From owner-freebsd-hackers@freebsd.org  Wed Jun 15 13:21:03 2016
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Date: Wed, 15 Jun 2016 15:20:59 +0200
From: Joerg Sonnenberger <joerg@bec.de>
To: freebsd-hackers@freebsd.org
Subject: Re: /usr/include/c++/v1/map:837:5: error: static_assert failed
 "Allocator::value_type must be same type as value_type"
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On Wed, Jun 15, 2016 at 11:54:17AM +0200, Dimitry Andric wrote:
> This patch should hopefully work.  I do not have the port itself, so I could not compile-test it.
> 
> diff --git a/include/LoopClosing.h b/include/LoopClosing.h
> index b1736fe..5d80d02 100644
> --- a/include/LoopClosing.h
> +++ b/include/LoopClosing.h
> @@ -47,7 +47,7 @@ public:
> 
>      typedef pair<set<KeyFrame*>,int> ConsistentGroup;
>      typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
> -        Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
> +        Eigen::aligned_allocator<std::pair<KeyFrame const*, g2o::Sim3> > > KeyFrameAndPose;

That's a stylistic change only:
  const foo * == foo const * != foo * const.

Joerg