vikit_common fail to build with ARM_ARCHITECTURE, Sophus? Eigen 3?

[jiapei100]

Can anybody give me a hand?
It took me a while to build vikit-common on an ARM-based open source board.
However, I've got a lot of errors as shown at the botom:
All errors are from 2 lines in the same file ../vikit_common/src/homography.cpp

1. line 34 H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()*n_c1.transpose())/d;
2. line 263 Matrix3d Essential = T.rotation_matrix() * sqew(T.translation());

Any updated version to eliminate these two errors?

Cheers
Pei

[ 69%] Building CXX object CMakeFiles/vikit_common.dir/src/homography.cpp.o
In file included from ....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:12:0:
....../Programs/svo/rpg_vikit/vikit_common/include/vikit/homography.h:37:15: warning: ‘Sophus::SE3’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:35) [-Wdeprecated-declarations]
Sophus::SE3 T; //!< second from first
^
....../Programs/svo/rpg_vikit/vikit_common/include/vikit/homography.h:75:7: warning: ‘Sophus::SE3’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:35) [-Wdeprecated-declarations]
SE3 T_c2_from_c1; //!< Relative translation and rotation of two images
^
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘void vk::Homography::calcFromPlaneParams(const Vector3d&, const Vector3d&)’:
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:34:47: warning: ‘const M3_marcos_dont_like_commas Sophus::SE3GroupBase::rotation_matrix() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::M3_marcos_dont_like_commas = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:281) [-Wdeprecated-declarations]
H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()n_c1.transpose())/d;
^
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘void vk::Homography::findBestDecomposition()’:
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:262:19: warning: ‘Sophus::SE3’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:35) [-Wdeprecated-declarations]
Sophus::SE3 T = decompositions[i].T;
^
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:263:46: warning: ‘const M3_marcos_dont_like_commas Sophus::SE3GroupBase::rotation_matrix() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::M3_marcos_dont_like_commas = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:281) [-Wdeprecated-declarations]
Matrix3d Essential = T.rotation_matrix() * sqew(T.translation());
^
In file included from /usr/include/eigen3/Eigen/Core:254:0,
from ....../Programs/svo/rpg_vikit/vikit_common/include/vikit/homography.h:19,
from ....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:12:
/usr/include/eigen3/Eigen/src/Core/GeneralProduct.h: In instantiation of ‘const typename Eigen::ProductReturnType<Derived, OtherDerived>::Type Eigen::MatrixBase::operator(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::Matrix<double, 3, 3>; Derived = Eigen::Matrix<double, 4, 4>; typename Eigen::ProductReturnType<Derived, OtherDerived>::Type = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>]’:
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:263:70: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: INVALID_MATRIX_PRODUCT
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:591:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
^
/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h: In instantiation of ‘Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::CwiseBinaryOp(const Lhs&, const Rhs&, const BinaryOp&) [with BinaryOp = Eigen::internal::scalar_sum_op; Lhs = const Eigen::Matrix<double, 4, 4>; Rhs = const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> >]’:
/usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseBinaryOps.h:27:1: required from ‘const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<typename Eigen::internal::traits::Scalar>, const Derived, const OtherDerived> Eigen::MatrixBase::operator+(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> >; Derived = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:34:97: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:182:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(
^
/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:130:7: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs)
^
/usr/include/eigen3/Eigen/src/Core/Assign.h: In instantiation of ‘Derived& Eigen::DenseBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>; Derived = Eigen::Matrix<double, 3, 3>]’:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:411:46: required from ‘Derived& Eigen::PlainObjectBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/Assign.h:520:123: required from ‘static Derived& Eigen::internal::assign_selector<Derived, OtherDerived, false, false>::run(Derived&, const OtherDerived&) [with Derived = Eigen::Matrix<double, 3, 3>; OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:618:105: required from ‘Derived& Eigen::PlainObjectBase::_set_noalias(const Eigen::DenseBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:281:31: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>; _Scalar = double; int _Rows = 3; int _Cols = 3; int _Options = 0; int _MaxRows = 3; int _MaxCols = 3]’
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:263:70: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:182:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(
^
/usr/include/eigen3/Eigen/src/Core/Assign.h:492:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
^
/usr/include/eigen3/Eigen/src/Core/Assign.h: In instantiation of ‘Derived& Eigen::DenseBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 3, 3>; Derived = Eigen::Matrix<double, 4, 4>]’:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:411:46: required from ‘Derived& Eigen::PlainObjectBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 3, 3>; Derived = Eigen::Matrix<double, 4, 4>]’
/usr/include/eigen3/Eigen/src/Core/Assign.h:520:123: required from ‘static Derived& Eigen::internal::assign_selector<Derived, OtherDerived, false, false>::run(Derived&, const OtherDerived&) [with Derived = Eigen::Matrix<double, 4, 4>; OtherDerived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:618:105: required from ‘Derived& Eigen::PlainObjectBase::_set_noalias(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 3, 3>; Derived = Eigen::Matrix<double, 4, 4>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:281:31: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::MatrixBase&) [with OtherDerived = Eigen::Matrix<double, 3, 3>; _Scalar = double; int _Rows = 4; int _Cols = 4; int _Options = 0; int _MaxRows = 4; int _MaxCols = 4]’
....../Programs/svo/Sophus/sophus/se3.hpp:282:25: required from ‘const M3_marcos_dont_like_commas Sophus::SE3GroupBase::rotation_matrix() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::M3_marcos_dont_like_commas = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:34:47: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:182:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(
^
/usr/include/eigen3/Eigen/src/Core/Assign.h:492:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
^
/usr/include/eigen3/Eigen/src/Core/Assign.h: In instantiation of ‘Derived& Eigen::DenseBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:411:46: required from ‘Derived& Eigen::PlainObjectBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/Assign.h:520:123: required from ‘static Derived& Eigen::internal::assign_selector<Derived, OtherDerived, false, false>::run(Derived&, const OtherDerived&) [with Derived = Eigen::Matrix<double, 3, 3>; OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:618:105: required from ‘Derived& Eigen::PlainObjectBase::_set_noalias(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:603:120: required from ‘void Eigen::PlainObjectBase::_set_selector(const OtherDerived&, const Eigen::internal::false_type&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:595:189: required from ‘Derived& Eigen::PlainObjectBase::_set(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:172:30: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; _Scalar = double; int _Rows = 3; int _Cols = 3; int _Options = 0; int _MaxRows = 3; int _MaxCols = 3]’
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:34:16: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:182:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(
^
/usr/include/eigen3/Eigen/src/Core/Assign.h:492:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
^
make[2]: *** [CMakeFiles/vikit_common.dir/src/homography.cpp.o] Error 1
make[1]: *** [CMakeFiles/vikit_common.dir/all] Error 2
make: *** [all] Error 2
bananapi@lemaker:~/Programs/svo/rpg_vikit/vikit_common/build$

[jiapei100]

Problem solved... close the topic please...
Sophus rotation_matrix() deprecated now.
Change rotation_matrix() to rotationMatrix().