Building ceres-solver fail with eigen3 "error: no type named ‘Literal’ in ‘struct Eigen::NumTraits"

以前编译ceres-solver没有出现过问题，最近在编译时报出一个问题：

[ 75%] Building CXX object internal/ceres/CMakeFiles/jet_test.dir/jet_test.cc.o
In file included from /usr/local/include/eigen3/Eigen/Core:348:0,
                 from /home/ubuntu/cartographer/ceres-solver-1.11.0/include/ceres/jet.h:165,
                 from /home/ubuntu/cartographer/ceres-solver-1.11.0/internal/ceres/jet_test.cc:31:
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, Eigen::Matrix<ceres::Jet<double, 2>, 2, 2>, false>’:
/usr/local/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1:   required by substitution of ‘template<class T> typename Eigen::internal::enable_if<true, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, ceres::Jet<double, 2>, Eigen::internal::scalar_product_op<T, ceres::Jet<double, 2> > > >::value>::type, ceres::Jet<double, 2> >, const typename Eigen::internal::plain_constant_type<Eigen::Matrix<ceres::Jet<double, 2>, 2, 1, 0, 2, 1>, typename Eigen::internal::promote_scalar_arg<ceres::Jet<double, 2>, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, ceres::Jet<double, 2>, Eigen::internal::scalar_product_op<T, ceres::Jet<double, 2> > > >::value>::type>::type, const Eigen::