Failed auto type deduction in some cases with operator*()

[scott-robotics]

Hi. Having updated from 18.04 (sophus=ef9551f) to 20.04 (sophus=master), I ran into some compilation issue with some existing code. I've created a minimal example:

#include "sophus/se2.hpp"
#include <iostream>

int main() {
    const int N = 2;
    Eigen::Matrix<double, 2, N> points1 = Eigen::Matrix<double, 2, N>::Random();
    Eigen::MatrixXd points2(2, N);
    
    points2 = points1;

    Sophus::SE2d pose(0.5, Eigen::Vector2d({0.1, 0.2}));
    
    Eigen::Vector2d point1 = pose * points1.col(0);  // Compiles
    // Eigen::Vector2d point2 = pose * points2.col(0); // [1] Does not compile 
    Eigen::Vector2d point3 = pose * Eigen::Vector2d(points2.col(0)); // Compiles

    // Eigen::Matrix<double, 2, N> points4 = pose * points1; // [2] Does not compile

    std::cout << point1 << std::endl;
    // std::cout << point2 << std::endl;
    std::cout << point3 << std::endl;
    return 0;
}

The compiliation error for [1] is no match for ‘operator*’ (operand types are ‘Sophus::SE2d’ {aka ‘Sophus::SE2<double>’} and ‘Eigen::DenseBase<Eigen::Matrix<double, -1, -1> >::ColXpr’ {aka ‘Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, 1, true>’})

Another operation [2] that fails to compile is operator*(Sophus::SE2<double>, const Eigen::Matrix<double, 2, -1>), which would previously transform all columns of 2d points according to SE2.

Ubuntu 20.04 Eigen 3.3.7 gcc 9.3.0

[TheSeanParker]

I meet the same question,what is the answer of this question?