Corrected typedef so that map value_type and allocator are the same

[craymichael]

This correction was necessary in order to prevent static assertion errors in my environment. Compilation error in question:

/home/zach/Projects/ORB-SLAM/ORB_SLAM2/src/LoopClosing.cc:416:20: warning: use of an operand of type ‘bool’ in ‘operator++’ is deprecated [-Wdeprecated]
         mnFullBAIdx++;
                    ^~
In file included from /usr/include/c++/8.1.0/map:61,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/Thirdparty/DBoW2/DBoW2/BowVector.h:14,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/include/Frame.h:27,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/include/MapPoint.h:25,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/include/KeyFrame.h:24,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/include/LoopClosing.h:24,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/src/LoopClosing.cc:21:
/usr/include/c++/8.1.0/bits/stl_map.h: In instantiation of ‘class std::map<ORB_SLAM2::KeyFrame*, g2o::Sim3, std::less<ORB_SLAM2::KeyFrame*>, Eigen::aligned_allocator<std::pair<const ORB_SLAM2::KeyFrame*, g2o::Sim3> > >’:
/home/zach/Projects/ORB-SLAM/ORB_SLAM2/src/LoopClosing.cc:438:21:   required from here
/usr/include/c++/8.1.0/bits/stl_map.h:122:21: error: static assertion failed: std::map must have the same value_type as its allocator
       static_assert(is_same<typename _Alloc::value_type, value_type>::value,
                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/8.1.0/map:61,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/Thirdparty/DBoW2/DBoW2/BowVector.h:14,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/include/KeyFrame.h:25,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/include/MapPoint.h:24,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/include/Map.h:24,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/include/Optimizer.h:24,
                 from /home/zach/Projects/ORB-SLAM/ORB_SLAM2/src/Optimizer.cc:21:
/usr/include/c++/8.1.0/bits/stl_map.h: In instantiation of ‘class std::map<ORB_SLAM2::KeyFrame*, g2o::Sim3, std::less<ORB_SLAM2::KeyFrame*>, Eigen::aligned_allocator<std::pair<const ORB_SLAM2::KeyFrame*, g2o::Sim3> > >’:
/home/zach/Projects/ORB-SLAM/ORB_SLAM2/src/Optimizer.cc:818:37:   required from here
/usr/include/c++/8.1.0/bits/stl_map.h:122:21: error: static assertion failed: std::map must have the same value_type as its allocator
       static_assert(is_same<typename _Alloc::value_type, value_type>::value,
                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:102: CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:219: CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:253: CMakeFiles/ORB_SLAM2.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

Resolving the error was a simple matter of declaring the pointer as const as opposed to the pointee.

I have Eigen 3.2.10 and OpenCV 3.4.1 installed, every other dependency is the latest from git.

[stolpa4]

@craymichael God bless you!

[JensAltst]

Thank you so much this finally resolved my problem!

[chuong]

Thank you @craymichael . This also works for ORB-SLAM3 on Ubuntu 20.04.

[mali-arf]

I am also having the same error at 21 different places in a piece of code. Can you please clarify, how did you solve this error; so I can also apply it in my project. Thanks

[arjunskumar]

any idea how to resolve this error?

[arjunskumar]

Modifying ORB_SLAM2/include/LoopClosing.h::50

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
    Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;

to

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
    Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;

resolves this issue

[robertolisandro]

Hello! I'm having a similar issue, which I don't know how to solve. I got this:

make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:89: CMakeFiles/ORB_SLAM2.dir/src/LocalMapping.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:297: CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o] Error 1
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:63: CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:76: CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o] Error 1
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:102: CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:250: CMakeFiles/ORB_SLAM2.dir/all] Error 2

Does anybody know how to adjust?

[easylei]

dear arjunskumar, i don't know how to stress my appreciation to your valuable replay, it save my day, and end my days of searching through the web. it finally compiled