Error while compiling LoopClosing.cc

[PabloAsensio]

In file included from /usr/include/c++/9/map:61,
                 from /home/pablo/Desktop/master/SDslam/src/KeyFrame.h:28,
                 from /home/pablo/Desktop/master/SDslam/src/LoopClosing.h:30,
                 from /home/pablo/Desktop/master/SDslam/src/LoopClosing.cc:25:
/usr/include/c++/9/bits/stl_map.h: In instantiation of ‘class std::map<SD_SLAM::KeyFrame*, g2o::Sim3, std::less<SD_SLAM::KeyFrame*>, Eigen::aligned_allocator<std::pair<const SD_SLAM::KeyFrame*, g2o::Sim3> > >’:
/home/pablo/Desktop/master/SDslam/src/LoopClosing.cc:402:19:   required from here
/usr/include/c++/9/bits/stl_map.h:122:71: error: static assertion failed: std::map must have the same value_type as its allocator
  122 |       static_assert(is_same<typename _Alloc::value_type, value_type>::value,
      |                                                                       ^~~~~
make[2]: *** [CMakeFiles/SD_SLAM.dir/build.make:115: CMakeFiles/SD_SLAM.dir/src/LoopClosing.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:192: CMakeFiles/SD_SLAM.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

[PabloAsensio]

I think it comes from LoopClosing.h lines 45 and 46

  typedef std::map<KeyFrame*,g2o::Sim3, std::less<KeyFrame*>,
    Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;

I see this on: (http://www.cplusplus.com/reference/map/map/)

[PabloAsensio]

I see solution here: http://blog.leanote.com/post/gaunthan/ORB-SLAM2-compiling-problems

[PabloAsensio]

Let's leave this open until we fixed it in the code.