From 9f8d067c72506dee3da3b06bf3a0c63b34ae8a71 Mon Sep 17 00:00:00 2001
From: raulmur <raulmur@unizar.es>
Date: Fri, 13 Jan 2017 15:54:01 +0100
Subject: [PATCH] Add OpenCV 3 and Eigen 3.3 support

---
 CMakeLists.txt                                   | 9 ++++++++-
 Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h | 2 +-
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fadce0f29c..94edcbe371 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,14 @@ endif()
 
 LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 
-find_package(OpenCV 2.4.3 REQUIRED)
+find_package(OpenCV 2.4.3 QUIET)
+if(NOT OpenCV_FOUND)
+   find_package(OpenCV 3.0 QUIET)
+   if(NOT OpenCV_FOUND)
+      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
+   endif()
+endif()
+
 find_package(Eigen3 3.1.0 REQUIRED)
 find_package(Pangolin REQUIRED)
 
diff --git a/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h b/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h
index d61c633c71..1c2789afee 100644
--- a/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h
+++ b/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h
@@ -53,7 +53,7 @@ class LinearSolverEigen: public LinearSolver<MatrixType>
   public:
     typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
     typedef Eigen::Triplet<double> Triplet;
-    typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
+    typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic> PermutationMatrix;
     /**
      * \brief Sub-classing Eigen's SimplicialLDLT to perform ordering with a given ordering
      */