error: compile with VS2015 win32

[yanming-zou]

Hi

I use cmake 3.7 and vs 2015 (Microsoft (R) C/C++ Optimizing Compiler Version 19.00.24210 for x86) to compile. My Eigen version is Eigen 3.2.8. But I get some errors as following. Any suggestion about this?

Thanks a lot.
Yanming

sophus\test\core\tests.hpp(112): error C2672: 'Sophus::details::metric': no matching overloaded function found
sophus\test\core\tests.hpp(109): note: while compiling class template member function 'bool Sophus::LieGroupTests<Sophus::RxSO3<double,0>>::veeHatTest(void)'
sophus\test\core\tests.hpp(134): note: see reference to function template instantiation 'bool Sophus::LieGroupTests<Sophus::RxSO3<double,0>>::veeHatTest(void)' being compiled
Sophus\test\core\test_rxso3.cpp(70): note: see reference to class template instantiation 'Sophus::LieGroupTests<Sophus::RxSO3<double,0>>' being compiled
Sophus\test\core\test_rxso3.cpp(69): note: while compiling class template member function 'bool Sophus::Tests::testLieProperties(void)'
Sophus\test\core\test_rxso3.cpp(61): note: see reference to function template instantiation 'bool Sophus::Tests::testLieProperties(void)' being compiled
Sophus\test\core\test_rxso3.cpp(233): note: see reference to class template instantiation 'Sophus::Tests' being compiled
sophus\test\core\tests.hpp(112): error C2782: 'unknown-type Sophus::details::metric(const T &,const T &)': template parameter 'T' is ambiguous
Sophus\sophus/test_macros.hpp(28): note: see declaration of 'Sophus::details::metric'
sophus\test\core\tests.hpp(112): note: could be 'Eigen::Matrix<double,4,1,0,4,1>'
sophus\test\core\tests.hpp(112): note: or 'Eigen::internal::workaround_msvc_stl_support'
with
[
T=Eigen::Matrix<double,4,1,0,4,1>
]
sophus\test\core\tests.hpp(112): error C2784: 'unknown-type Sophus::details::metric(const T &,const T &)': could not deduce template argument for 'const T &' from 'Eigen::Matrix<double,4,1,0,4,1>'
Sophus\sophus/test_macros.hpp(28): note: see declaration of 'Sophus::details::metric'
sophus\test\core\tests.hpp(114): error C3536: 'nrm': cannot be used before it is initialized

[strasdat]

That is curious since it seems to work just fine with Eigen 3.2.10 and MSVC 19.0.24215.1. See https://ci.appveyor.com/project/strasdat/sophus/branch/master for details.

I'll see whether I find a solution, so it might be difficult to debug it from my end.
If you find a workaround/patch in the meanwhile, please open a pullrequest.

[jlblancoc]

@yanming-zou have you tried telling cmake to generate projects for both 32 & 64bits? If only one builds, that's an interesting hint...

[yanming-zou]

I have just tried the win64 version. It works well. Can we say there is a bug in MSVC?

[jlblancoc]

Can we say there is a bug in MSVC?

Clearly not :-)

I daily use MSVC14, will clone the repo and try to give it a look when time permits...

Cheers.