YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
loseyourself-gan opened this issue · 1 comments
I had such a problem after executing the catkin_make command, but I didn't modify the source code. How can I solve it?
Thanks a lot.
[ 85%] Built target image_processor_nodelet
In file included from /usr/include/eigen3/Eigen/Core:366,
from /usr/include/eigen3/Eigen/QR:11,
from /usr/include/eigen3/Eigen/SVD:11,
from /home/gan/open-slam/msckf_noted/src/msckf_vio/src/msckf_vio.cpp:14:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<double, 4, 1>; Src = Eigen::Matrix<double, 2, 1>; Func = Eigen::internal::assign_op<double, double>]’:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:732:41: required from ‘Derived& Eigen::PlainObjectBase::_set_noalias(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 2, 1>; Derived = Eigen::Matrix<double, 4, 1>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:537:7: required from ‘Eigen::PlainObjectBase::PlainObjectBase(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 2, 1>; Derived = Eigen::Matrix<double, 4, 1>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:377:29: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::EigenBase&) [with OtherDerived = Eigen::Matrix<double, 2, 1>; _Scalar = double; int _Rows = 4; int _Cols = 1; int _Options = 0; int _MaxRows = 4; int _MaxCols = 1]’
/home/gan/open-slam/msckf_noted/src/msckf_vio/src/msckf_vio.cpp:831:64: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:174:5: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
172 | (
| ~~~
173 | (int(Eigen::internal::size_of_xpr_at_compile_time::ret)==0 && int(Eigen::internal::size_of_xpr_at_compile_time::ret)==0)
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
174 | || (
| ^~~~~
175 | (int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
176 | || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
177 | || int(TYPE0::RowsAtCompileTime)==int(TYPE1::RowsAtCompileTime))
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
178 | && (int(TYPE0::ColsAtCompileTime)==Eigen::Dynamic
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
179 | || int(TYPE1::ColsAtCompileTime)==Eigen::Dynamic
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
180 | || int(TYPE0::ColsAtCompileTime)==int(TYPE1::ColsAtCompileTime))
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
181 | )
| ~~~
182 | )
| ~
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:54: note: in definition of macro ‘EIGEN_STATIC_ASSERT’
33 | #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
| ^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:191:6: note: in expansion of macro ‘EIGEN_PREDICATE_SAME_MATRIX_SIZE’
191 | EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1),
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:833:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
833 | EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<double, 2, 1>; Src = Eigen::Matrix<double, 4, 1>; Func = Eigen::internal::assign_op<double, double>]’:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804:27: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void*>::type) [with Dst = Eigen::Matrix<double, 2, 1>; Src = Eigen::Matrix<double, 4, 1>; Func = Eigen::internal::assign_op<double, double>; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void*>::type = void*]’
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782:18: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<double, 2, 1>; Src = Eigen::Matrix<double, 4, 1>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714:32: required from ‘Derived& Eigen::PlainObjectBase::_set(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 4, 1>; Derived = Eigen::Matrix<double, 2, 1>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 4, 1>; _Scalar = double; int _Rows = 2; int _Cols = 1; int _Options = 0; int _MaxRows = 2; int _MaxCols = 1]’
/home/gan/open-slam/msckf_noted/src/msckf_vio/src/msckf_vio.cpp:792:35: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:174:5: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
172 | (
| ~~~
173 | (int(Eigen::internal::size_of_xpr_at_compile_time::ret)==0 && int(Eigen::internal::size_of_xpr_at_compile_time::ret)==0)
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
174 | || (
| ^~~~~
175 | (int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
176 | || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
177 | || int(TYPE0::RowsAtCompileTime)==int(TYPE1::RowsAtCompileTime))
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
178 | && (int(TYPE0::ColsAtCompileTime)==Eigen::Dynamic
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
179 | || int(TYPE1::ColsAtCompileTime)==Eigen::Dynamic
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
180 | || int(TYPE0::ColsAtCompileTime)==int(TYPE1::ColsAtCompileTime))
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
181 | )
| ~~~
182 | )
| ~
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:54: note: in definition of macro ‘EIGEN_STATIC_ASSERT’
33 | #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
| ^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:191:6: note: in expansion of macro ‘EIGEN_PREDICATE_SAME_MATRIX_SIZE’
191 | EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1),
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:833:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
833 | EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [msckf_vio/CMakeFiles/msckf_vio.dir/build.make:63：msckf_vio/CMakeFiles/msckf_vio.dir/src/msckf_vio.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:944：msckf_vio/CMakeFiles/msckf_vio.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j12 -l12" failed
Can you post line 831?