On Ubuntu 20.04 with ROS-Noetic, libeigen-dev-3.3.7-2, Sophus-1.22.10 (y2022-feb)

$ catkin_make -j1 (trying to build OA-LICalib ROS-package)

[ 11%] Building CXX Object OA-LICalib/CMakeFiles/lib_calib.dir/src/trajectory/trajectory_estimator.cpp.o
In file included from /usr/include/eigen3/Eigen/Core:366,
from /usr/include/ceres/jet.h: 145
from /usr/include/ceres/internal/autodiff.h:145,
from /usr/include/ceres/autodiff_cost_function.h:132,
from /usr/include/ceres/ceres.h:37,
from OA-LICalib-git/include/trajectory/trajectory_estimator.h:26,
from OA-LICalib-git/include/trajectory/trajectory_estimator.cpp:23:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of 'void Eigen::internal::call_assignment(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, 4, 3, 1, 4, 3>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Transpose<Eigen::Matrix<double, 4, 3, 0, 4, 3> >; Func = Eigen::internal::assign_op<double, double>]':
...
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804:27 required from 'void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Map<Eigen::Matrix<double, 4, 3, 1, 4, 3>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Transpose<Eigen::Matrix<double, 4, 3, 0, 4, 3> >]'
...
OA-LICalib-git/include/basalt/spline/ceres_local_param.hpp:104:14: required from 'bool bsalt::LieLocalParameterization::ComputeJacobian(const double*, double*) const [with Groupd = Sophus::SO3]'
OA-LICalib-git/include/basalt/spline/ceres_local_param.hpp:98:16: required from here /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:833:3 error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
833 | EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)

make[2]: *** [OA-LICalib/CMakeFiles/lib_calib.dir/build.make:76: OA-LICalib/CMakeFiles/lib_calib.dir/src/trajectory/trajectory_estimator.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1059: OA-LICalib/CMakeFiles/lib_calib.dir/all] Error 2
make: *** [Makefile: all] Error 2