Add OpenCV 3 and Eigen 3.3 support

Author: raulmur

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)
 

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
      */