I compile the ORB_SLAM2 error

[echotor]

my gcc version in computer is:
sankuai@w-sankuai-ros:/Projects/ORB_SLAM2$ gcc --version
gcc (Ubuntu 4.8.4-2ubuntu114.04.3) 4.8.4
Copyright (C) 2013 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

And after install the Pangolin, opencv and Eigen3, I run the build.sh. But the error is output, the show is below:
Configuring and building Thirdparty/DBoW2 ...
mkdir: cannot create directory ‘build’: File exists
-- Configuring done
-- Generating done
-- Build files have been written to: /home/sankuai/Projects/ORB_SLAM2/Thirdparty/DBoW2/build
[100%] Built target DBoW2
Configuring and building Thirdparty/g2o ...
mkdir: cannot create directory ‘build’: File exists
-- BUILD TYPE:Release
-- Compiling on Unix
-- Configuring done
-- Generating done
-- Build files have been written to: /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/build
[100%] Built target g2o
Uncompress vocabulary ...
Configuring and building ORB_SLAM2 ...
mkdir: cannot create directory ‘build’: File exists
Build type: Release
-- Using flag -std=c++11.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/sankuai/Projects/ORB_SLAM2/build
[ 4%] [ 8%] [ 12%] [ 16%] [ 20%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/System.cc.o
Building CXX object CMakeFiles/ORB_SLAM2.dir/src/LocalMapping.cc.o
Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o
Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o
Building CXX object CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/include/Tracking.h:31,
from /home/sankuai/Projects/ORB_SLAM2/include/FrameDrawer.h:24,
from /home/sankuai/Projects/ORB_SLAM2/include/Viewer.h:25,
from /home/sankuai/Projects/ORB_SLAM2/src/Viewer.cc:21:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/include/Tracking.h:31,
from /home/sankuai/Projects/ORB_SLAM2/include/FrameDrawer.h:24,
from /home/sankuai/Projects/ORB_SLAM2/include/Viewer.h:25,
from /home/sankuai/Projects/ORB_SLAM2/src/Viewer.cc:21:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/include/Tracking.h:31,
from /home/sankuai/Projects/ORB_SLAM2/include/FrameDrawer.h:24,
from /home/sankuai/Projects/ORB_SLAM2/include/Viewer.h:25,
from /home/sankuai/Projects/ORB_SLAM2/src/Viewer.cc:21:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/include/Tracking.h:31,
from /home/sankuai/Projects/ORB_SLAM2/include/System.h:29,
from /home/sankuai/Projects/ORB_SLAM2/src/System.cc:23:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/include/Tracking.h:31,
from /home/sankuai/Projects/ORB_SLAM2/include/System.h:29,
from /home/sankuai/Projects/ORB_SLAM2/src/System.cc:23:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/include/Tracking.h:31,
from /home/sankuai/Projects/ORB_SLAM2/include/System.h:29,
from /home/sankuai/Projects/ORB_SLAM2/src/System.cc:23:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/include/System.h:33,
from /home/sankuai/Projects/ORB_SLAM2/include/Viewer.h:28,
from /home/sankuai/Projects/ORB_SLAM2/include/Tracking.h:28,
from /home/sankuai/Projects/ORB_SLAM2/src/Tracking.cc:22:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/include/System.h:33,
from /home/sankuai/Projects/ORB_SLAM2/include/Viewer.h:28,
from /home/sankuai/Projects/ORB_SLAM2/include/Tracking.h:28,
from /home/sankuai/Projects/ORB_SLAM2/src/Tracking.cc:22:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/include/System.h:33,
from /home/sankuai/Projects/ORB_SLAM2/include/Viewer.h:28,
from /home/sankuai/Projects/ORB_SLAM2/include/Tracking.h:28,
from /home/sankuai/Projects/ORB_SLAM2/src/Tracking.cc:22:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc:21:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc:21:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc:21:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/src/LocalMapping.cc:21:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/src/LocalMapping.cc:21:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
from /home/sankuai/Projects/ORB_SLAM2/include/LoopClosing.h:34,
from /home/sankuai/Projects/ORB_SLAM2/include/LocalMapping.h:26,
from /home/sankuai/Projects/ORB_SLAM2/src/LocalMapping.cc:21:
/home/sankuai/Projects/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
^
/home/sankuai/Projects/ORB_SLAM2/src/System.cc: In member function ‘cv::Mat ORB_SLAM2::System::TrackStereo(const cv::Mat&, const cv::Mat&, const double&)’:
/home/sankuai/Projects/ORB_SLAM2/src/System.cc:134:28: error: ‘usleep’ was not declared in this scope
usleep(1000);
^
/home/sankuai/Projects/ORB_SLAM2/src/System.cc: In member function ‘cv::Mat ORB_SLAM2::System::TrackRGBD(const cv::Mat&, const cv::Mat&, const double&)’:
/home/sankuai/Projects/ORB_SLAM2/src/System.cc:185:28: error: ‘usleep’ was not declared in this scope
usleep(1000);
^
/home/sankuai/Projects/ORB_SLAM2/src/System.cc: In member function ‘cv::Mat ORB_SLAM2::System::TrackMonocular(const cv::Mat&, const double&)’:
/home/sankuai/Projects/ORB_SLAM2/src/System.cc:236:28: error: ‘usleep’ was not declared in this scope
usleep(1000);
^
/home/sankuai/Projects/ORB_SLAM2/src/System.cc: In member function ‘void ORB_SLAM2::System::Shutdown()’:
/home/sankuai/Projects/ORB_SLAM2/src/System.cc:309:24: error: ‘usleep’ was not declared in this scope
usleep(5000);
^
/home/sankuai/Projects/ORB_SLAM2/src/System.cc:315:20: error: ‘usleep’ was not declared in this scope
usleep(5000);
^
/home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc: In member function ‘void ORB_SLAM2::LoopClosing::Run()’:
/home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc:84:20: error: ‘usleep’ was not declared in this scope
usleep(5000);
^
/home/sankuai/Projects/ORB_SLAM2/src/Tracking.cc: In member function ‘void ORB_SLAM2::Tracking::Reset()’:
/home/sankuai/Projects/ORB_SLAM2/src/Tracking.cc:1512:24: error: ‘usleep’ was not declared in this scope
usleep(3000);
^
/home/sankuai/Projects/ORB_SLAM2/src/Viewer.cc: In member function ‘void ORB_SLAM2::Viewer::Run()’:
/home/sankuai/Projects/ORB_SLAM2/src/Viewer.cc:160:28: error: ‘usleep’ was not declared in this scope
usleep(3000);
^
/home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc: In member function ‘void ORB_SLAM2::LoopClosing::CorrectLoop()’:
/home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc:428:20: error: ‘usleep’ was not declared in this scope
usleep(1000);
^
/home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc: In member function ‘void ORB_SLAM2::LoopClosing::RequestReset()’:
/home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc:630:20: error: ‘usleep’ was not declared in this scope
usleep(5000);
^
/home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc: In member function ‘void ORB_SLAM2::LoopClosing::RunGlobalBundleAdjustment(long unsigned int)’:
/home/sankuai/Projects/ORB_SLAM2/src/LoopClosing.cc:670:28: error: ‘usleep’ was not declared in this scope
usleep(1000);
^
/home/sankuai/Projects/ORB_SLAM2/src/LocalMapping.cc: In member function ‘void ORB_SLAM2::LocalMapping::Run()’:
/home/sankuai/Projects/ORB_SLAM2/src/LocalMapping.cc:94:28: error: ‘usleep’ was not declared in this scope
usleep(3000);
^
/home/sankuai/Projects/ORB_SLAM2/src/LocalMapping.cc:108:20: error: ‘usleep’ was not declared in this scope
usleep(3000);
^
/home/sankuai/Projects/ORB_SLAM2/src/LocalMapping.cc: In member function ‘void ORB_SLAM2::LocalMapping::RequestReset()’:
/home/sankuai/Projects/ORB_SLAM2/src/LocalMapping.cc:719:20: error: ‘usleep’ was not declared in this scope
usleep(3000);
^
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o] Error 1
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/LocalMapping.cc.o] Error 1
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o] Error 1
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] Error 1
make[1]: *** [CMakeFiles/ORB_SLAM2.dir/all] Error 2
make: *** [all] Error 2

Anyone can help me???

[jahaniam]

Easiest way to solve is using eigen 3.2 and make sure delete all build folders and recompile everything from start(pangolin , ... ) . anothier option is adding one thing to include as mentioned in here #144 . Please search before opening an issue.

[echotor]

Thanks for your comments.

[yohanderose]

Hey all, just tried 3.3.2 (2017 Jan) downgraded from 3.4 and its working.
1: in terminal remove your current eigen3 folder with "sudo rm -rf /usr/local/include/eigen3"
2. Download and extract this -> http://bitbucket.org/eigen/eigen/get/3.3.2.tar.bz2
3. cd into the extracted folder and in terminal "mkdir build && cd build" then "cmake .." then "sudo make install"

[kmfrick]

Hey all, just tried 3.3.2 (2017 Jan) downgraded from 3.4 and its working.
1: in terminal remove your current eigen3 folder with "sudo rm -rf /usr/local/include/eigen3"
2. Download and extract this -> http://bitbucket.org/eigen/eigen/get/3.3.2.tar.bz2
3. cd into the extracted folder and in terminal "mkdir build && cd build" then "cmake .." then "sudo make install"

Please do not do this as it will break packages that depend on your system's Eigen installation.

Without deleting anything, download and extract that tarball and run mkdir build && cd build && cmake -DCMAKE_INSTALL_PREFIX=${HOME}/.local/include .. followed by make install and include ${HOME}/.local/include in your CMakeLists.txt instead to install in user space.

[nerkn]

eigen repo has moved to gitlab
make install didnt produced anything
can you be more specific about
include ${HOME}/.local/include in your CMakeLists.txt

[kmfrick]

@nerkn What's the output of cmake .. and make install?

[LongruiDong]

On my Ubuntu 18.04

warning: ‘Eigen::AlignedBit’ is deprecated

still happen when eigen version down to 3.3.2

[aseslamian]

Easiest way to solve is using eigen 3.2 and make sure delete all build folders and recompile everything from start(pangolin , ... ) . anothier option is adding one thing to include as mentioned in here #144 . Please search before opening an issue.

I download earlier version Eigen3.1.0 but I don't know how to install it from the file?