Which version of eigen are you using?

[hcws]

Thanks for your work!

I meet this compile problem :

[ 93%] Building CXX object ROG-Map-main/examples/MARSIM/local_sensing/CMakeFiles/pcl_render_node.dir/src/pointcloud_render_node.cpp.o
In file included from /usr/local/include/eigen3/Eigen/Eigenvalues:36,
                 from /usr/local/include/eigen3/Eigen/Dense:7,
                 from /home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:11:
/usr/local/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h:550:5: error: ‘EIGEN_CONSTEXPR’ does not name a type; did you mean ‘EIGEN_HAS_CONSTEXPR’?
  550 |     EIGEN_CONSTEXPR Index rows() const EIGEN_NOEXCEPT { return m_matrix.rows(); }
      |     ^~~~~~~~~~~~~~~
      |     EIGEN_HAS_CONSTEXPR
/usr/local/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h:551:5: error: ‘EIGEN_CONSTEXPR’ does not name a type; did you mean ‘EIGEN_HAS_CONSTEXPR’?
  551 |     EIGEN_CONSTEXPR Index cols() const EIGEN_NOEXCEPT { return m_matrix.cols(); }
      |     ^~~~~~~~~~~~~~~
      |     EIGEN_HAS_CONSTEXPR
In file included from /usr/local/include/eigen3/Eigen/Eigenvalues:39,
                 from /usr/local/include/eigen3/Eigen/Dense:7,
                 from /home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:11:
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In member function ‘Eigen::SelfAdjointEigenSolver<MatrixType>& Eigen::SelfAdjointEigenSolver<_MatrixType>::compute(const Eigen::EigenBase<OtherDerived>&, int)’:
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:426:3: error: there are no arguments to ‘EIGEN_USING_STD’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD’ must be available [-fpermissive]
  426 |   EIGEN_USING_STD(abs);
      |   ^~~~~~~~~~~~~~~
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:426:3: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In static member function ‘static void Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 3, false>::computeRoots(const MatrixType&, Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 3, false>::VectorType&)’:
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:597:5: error: there are no arguments to ‘EIGEN_USING_STD’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD’ must be available [-fpermissive]
  597 |     EIGEN_USING_STD(sqrt)
      |     ^~~~~~~~~~~~~~~
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:597:26: error: expected ‘;’ before ‘EIGEN_USING_STD’
  597 |     EIGEN_USING_STD(sqrt)
      |                          ^
      |                          ;
  598 |     EIGEN_USING_STD(atan2)
      |     ~~~~~~~~~~~~~~~       
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:613:27: error: ‘s_inv3’ was not declared in this scope
  613 |     Scalar c2_over_3 = c2*s_inv3;
      |                           ^~~~~~
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In static member function ‘static bool Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 3, false>::extract_kernel(Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 3, false>::MatrixType&, Eigen::Ref<typename SolverType::RealVectorType>, Eigen::Ref<typename SolverType::RealVectorType>)’:
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:636:5: error: there are no arguments to ‘EIGEN_USING_STD’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD’ must be available [-fpermissive]
  636 |     EIGEN_USING_STD(abs);
      |     ^~~~~~~~~~~~~~~
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:637:5: error: there are no arguments to ‘EIGEN_USING_STD’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD’ must be available [-fpermissive]
  637 |     EIGEN_USING_STD(sqrt);
      |     ^~~~~~~~~~~~~~~
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In static member function ‘static void Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 2, false>::computeRoots(const MatrixType&, Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 2, false>::VectorType&)’:
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:751:5: error: there are no arguments to ‘EIGEN_USING_STD’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD’ must be available [-fpermissive]
  751 |     EIGEN_USING_STD(sqrt);
      |     ^~~~~~~~~~~~~~~
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In static member function ‘static void Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 2, false>::run(SolverType&, const MatrixType&, int)’:
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:761:5: error: there are no arguments to ‘EIGEN_USING_STD’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD’ must be available [-fpermissive]
  761 |     EIGEN_USING_STD(sqrt);
      |     ^~~~~~~~~~~~~~~
/usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:762:5: error: there are no arguments to ‘EIGEN_USING_STD’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD’ must be available [-fpermissive]
  762 |     EIGEN_USING_STD(abs);
      |     ^~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp: In function ‘void generate_ptclouds_by_pos(Eigen::Vector3d, int, pcl::PointCloud<pcl::PointXYZI>&, std::vector<pcl::PointXYZI>&)’:
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:289:23: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::size_t’ {aka ‘long unsigned int’} [-Wsign-compare]
  289 |     for (int i = 0; i < obs_cloud.size(); i++)
      |                     ~~^~~~~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:307:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::size_t’ {aka ‘long unsigned int’} [-Wsign-compare]
  307 |   for (int i = 0; i < obs_cloud.size(); i++)
      |                   ~~^~~~~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp: In function ‘void dynobjGenerate(const ros::TimerEvent&)’:
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:392:25: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<pcl::PointXYZI>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
  392 |       for (int i = 0; i < temp_dynobj_points.size(); i++)
      |                       ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp: In function ‘void multiOdometryCallbck(const OdometryConstPtr&, int)’:
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:604:18: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<pcl::PointXYZI, Eigen::aligned_allocator<pcl::PointXYZI> >::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
  604 |     for(int i=0;i<uav_extra_model.points.size();i++)
      |                 ~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp: In function ‘void renderSensedPoints(const ros::TimerEvent&)’:
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1063:12: warning: unused variable ‘scale_x’ [-Wunused-variable]
 1063 |     double scale_x = 0.48 * polar_width / 2.0;
      |            ^~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1064:12: warning: unused variable ‘scale_y’ [-Wunused-variable]
 1064 |     double scale_y = 0.43 * polar_height / 2.0;
      |            ^~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1136:23: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<BoxPointType>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
 1136 |     for (int i = 0; i < fov_boxes.size(); i++)
      |                     ~~^~~~~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1250:17: warning: unused variable ‘droneid_temp’ [-Wunused-variable]
 1250 |             int droneid_temp = (point_temp_index / (uav_points_num));
      |                 ^~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1391:68: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<pcl::PointXYZI>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
 1391 |             if ((point_temp_index - droneid_temp * uav_points_num) > (otheruav_points_inrender[droneid_temp].size() - 1))
      |                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1446:15: warning: unused variable ‘theta_index_o’ [-Wunused-variable]
 1446 |           int theta_index_o = theta_start;
      |               ^~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1447:15: warning: unused variable ‘fi_index_o’ [-Wunused-variable]
 1447 |           int fi_index_o = fi_start;
      |               ^~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1350:12: warning: unused variable ‘duration_interline’ [-Wunused-variable]
 1350 |     double duration_interline = 0.0;
      |            ^~~~~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:1351:12: warning: unused variable ‘duration_direct’ [-Wunused-variable]
 1351 |     double duration_direct = 0.0;
      |            ^~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:925:7: warning: unused variable ‘pointcount’ [-Wunused-variable]
  925 |   int pointcount = 0;
      |       ^~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:926:7: warning: unused variable ‘changepointcount’ [-Wunused-variable]
  926 |   int changepointcount = 0;
      |       ^~~~~~~~~~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:928:16: warning: unused variable ‘tan_ver_’ [-Wunused-variable]
  928 |   const double tan_ver_ = tan(M_PI * (vertical_fov_margined_ / 2.0) / 180.0);
      |                ^~~~~~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:929:16: warning: unused variable ‘yaw_’ [-Wunused-variable]
  929 |   const double yaw_ = (M_PI * (yaw_fov_margined_ / 2.0) / 180.0);
      |                ^~~~
/home/ly/rog_ws/src/ROG-Map-main/examples/MARSIM/local_sensing/src/pointcloud_render_node.cpp:930:16: warning: unused variable ‘ver_threshold’ [-Wunused-variable]
  930 |   const double ver_threshold = cos(M_PI * (vertical_fov_margined_ / 2.0) / 180.0);
      |                ^~~~~~~~~~~~~
make[2]: *** [ROG-Map-main/examples/MARSIM/local_sensing/CMakeFiles/pcl_render_node.dir/build.make:76: ROG-Map-main/examples/MARSIM/local_sensing/CMakeFiles/pcl_render_node.dir/src/pointcloud_render_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:4925: ROG-Map-main/examples/MARSIM/local_sensing/CMakeFiles/pcl_render_node.dir/all] Error 2
make: *** [Makefile:146: all] Error 2

[hcws]

Use eigen 3.4.1 , it works!

[RENyunfan]

Thank you for your feedback. I have updated a script to check the version and posted the tested versions from my laptop (which is 3.3.7-2) in the README.