1

修改g2o/types/slam2d/edge_se2_pointxy_bearing.cpp

t.setRotation(t.rotation().angle()+_measurement);

改為：

t.setRotation((Eigen::Rotation2Dd)(t.rotation().angle()+_measurement));

2忘了截圖了，錯誤提示：

static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
修改g2o/solvers/eigen/linear_solver_eigen.h

typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;

改為：

typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::StorageIndex> PermutationMatrix;

3.

處理方法：
Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h的代碼：

 template <typename MatrixType>
 class LinearSolverEigen: public LinearSolver<MatrixType>
 {
   public:
     typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
     typedef Eigen::Triplet<double> Triplet;
     typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;

修改為：

template <typename MatrixType>
class LinearSolverEigen: public LinearSolver<MatrixType>
 {
   public:
     typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
     typedef Eigen::Triplet<double> Triplet;
     typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix

g2o/g2o/examples/tutorial_slam2d/simulator.cpp:78的代碼

    for (int i = 0; i < probLimits.size(); ++i)          
      probLimits[i] = (i + 1) / (double) MO_NUM_ELEMS;

修改成：

      VectorXd probLimits;
        probLimits.resize(MO_NUM_ELEMS);
        for (int i = 0; i < probLimits.size(); ++i)
          probLimits[i] = (i + 1) / (double) MO_NUM_ELEMS;