From 4a9747f13f159d985e8bfd3a38ad2ad29a241d5e Mon Sep 17 00:00:00 2001
From: Yiming Chen <yimingchen86@gmail.om>
Date: Mon, 20 Nov 2017 17:22:16 +0800
Subject: [PATCH] Fix the compilation on OSX by correcting the usage of
 Eigen::aligned_allocator.

---
 CMakeLists.txt                               | 9 +--------
 okvis_common/include/okvis/FrameTypedefs.hpp | 4 ++--
 2 files changed, 3 insertions(+), 10 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8c7415ab..f71fb340 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -54,14 +54,7 @@ else()
   message(STATUS "Building with build type '${CMAKE_BUILD_TYPE}'")
 endif()
 
-if(APPLE)
-  # The clang compiler (on osx) is somehow much more strict
-  # than the compilers on ubuntu and so this does not seem
-  # possible on OSX just yet.
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -Wall -std=c++11 -fPIC")
-else()
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -Wall -std=c++11 -fPIC")
-endif()
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -Wall -std=c++11 -fPIC")
 
 if(${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "arm*")
   message(STATUS "ARM processor detected, will attempt to use NEON.")
diff --git a/okvis_common/include/okvis/FrameTypedefs.hpp b/okvis_common/include/okvis/FrameTypedefs.hpp
index eb6d97bd..d2bcc391 100644
--- a/okvis_common/include/okvis/FrameTypedefs.hpp
+++ b/okvis_common/include/okvis/FrameTypedefs.hpp
@@ -171,9 +171,9 @@ struct MapPoint
 
 typedef std::vector<MapPoint, Eigen::aligned_allocator<MapPoint> > MapPointVector;
 typedef std::map<uint64_t, MapPoint, std::less<uint64_t>,
-    Eigen::aligned_allocator<MapPoint> > PointMap;
+    Eigen::aligned_allocator<std::pair<const uint64_t, MapPoint> > > PointMap;
 typedef std::map<uint64_t, okvis::kinematics::Transformation, std::less<uint64_t>,
-    Eigen::aligned_allocator<okvis::kinematics::Transformation> > TransformationMap;
+    Eigen::aligned_allocator<std::pair<const uint64_t, okvis::kinematics::Transformation> > > TransformationMap;
 
 /// \brief For convenience to pass associations - also contains the 3d points.
 struct Observation