问题1：
报错信息：
/home/robot/g2o/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp: In member function ‘virtual void g2o::EdgeSE2PointXYBearing::initialEstimate(const VertexSet&, g2o::OptimizableGraph::Vertex*)’:
/home/robot/g2o/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:50:52: error: no matching function for call to ‘g2o::SE2::setRotation(Eigen::Rotation2D<double>::Scalar)’
t.setRotation(t.rotation().angle()+_measurement);
处理方法：
In g2o/types/slam2d/edge_se2_pointxy_bearing.cpp line 51 change:
t.setRotation(t.rotation().angle()+_measurement);
to
t.setRotation((Eigen::Rotation2Dd)(t.rotation().angle()+_measurement));
问题2： 强制类型转换
/home/robot/g2o/g2o/solvers/eigen/linear_solver_eigen.h:98:37: required from ‘bool g2o::LinearSolverEigen<MatrixType>::solve(const g2o::SparseBlockMatrix<MatrixType>&, double*, double*) [with MatrixType = Eigen::Matrix<double, -1, -1>]’
/home/robot/g2o/g2o/solvers/eigen/solver_eigen.cpp:111:1: required from here
/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:125:9: error: ‘YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY’ is not a member of ‘Eigen::internal::static_assertion<false>’
if (Eigen::internal::static_assertion<static_cast<bool>(CONDITION)>::MS
处理方法：
打开 /g2o/g2o/solvers/linear_solver_eigen.h，将以下代码
template <typename MatrixType>
class LinearSolverEigen: public LinearSolver<MatrixType>
{
public:
typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
typedef Eigen::Triplet<double> Triplet;
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
修改为：
template <typename MatrixType>
class LinearSolverEigen: public LinearSolver<MatrixType>
{
public:
typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
typedef Eigen::Triplet<double> Triplet;
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;
问题3： 强制类型转换
/home/robot/g2o/g2o/examples/tutorial_slam2d/simulator.cpp:78:39: required from here
/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:125:9: error: ‘FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED’ is not a member of ‘Eigen::internal::static_assertion<false>’
if (Eigen::internal::static_assertion<static_cast<bool>(CONDITION)>::MS
^
/usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:778:7: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(is_integer,
处理方法：
g2o/g2o/examples/tutorial_slam2d/simulator.cpp:78的代码如下所示：
VectorXd probLimits(MO_NUM_ELEMS);
for (int i = 0; i < probLimits.size(); ++i)
probLimits[i] = (i + 1) / (double) MO_NUM_ELEMS;
修改成：
VectorXd probLimits;
probLimits.resize(MO_NUM_ELEMS);
for (int i = 0; i < probLimits.size(); ++i)
probLimits[i] = (i + 1) / (double) MO_NUM_ELEMS;