Eigen compilation error: error: partial specialization of ‘std::vector<T, Eigen::aligned_allocator<U> >’

[ToMadoRe]

We observed following compiler error of V4R on one of our machines

In file included from /usr/local/include/eigen3/Eigen/StdVector:23:0,
from /usr/local/include/ceres/internal/numeric_diff.h:41,
from /usr/local/include/ceres/dynamic_numeric_diff_cost_function.h:70,
from /usr/local/include/ceres/ceres.h:44,
from /home/simon/Downloads/v4r_recognition_dev/modules/reconstruction/include/v4r/reconstruction/ProjLKPoseTrackerLM.h:46,
from /home/simon/Downloads/v4r_recognition_dev/modules/reconstruction/src/ProjLKPoseTrackerLM.cpp:33:
/usr/local/include/eigen3/Eigen/src/StlSupport/StdVector.h:69:9: error: partial specialization of ‘std::vector<T, Eigen::aligned_allocator<U> >’ after instantiation of ‘std::vector<Eigen::Matrix<float, 4, 4>, Eigen::aligned_allocator<Eigen::Matrix<float, 4, 4> > >’ [-fpermissive]
class vector<T,EIGEN_ALIGNED_ALLOCATOR<T> >

We haven't figured out the reason for this but there seems to be a relevant bug report filed on http://eigen.tuxfamily.org/bz/show_bug.cgi?id=829

To bypass this error, we switched to clang compiler, i.e. setting -DCMAKE_CXX_COMPILER=/usr/bin/clang++

[severin-lemaignan]

Same error here. And recompiling with clang is difficult on recent Linux system (with GCC > 5.1) due to changes to libstdc++ ABI that causes linking error with ceres for instance.

[severin-lemaignan]

Another -- arguably easier -- workaround is to remove the inclusion of the Eigen's header #include <Eigen/StdVector> from ceres' internal/numeric_diff.h header (as suggested in the bug report linked in the issue).