Fix compile option mismatch with g2o dependency #844
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This compile option should match between ORB_SLAM2 and Thirdparty/g2o :
-march=native.The Eigen library uses this flag to compute the value of the macro
EIGEN_DEFAULT_ALIGN_BYTES, which then impacts Matrix objects sizes in memory.If ORB_SLAM2 and Thirdparty/g2o are compiled with and without the -march flag, code defined in .cpp files (in libg2o.so) and code defined in .h files (in libORB_SLAM2.so) will not have the same value of Eigen alignment and seg fault can appear.
In particular, segmentation fault appears when building g2o and ORB_SLAM2 in Debug and running examples.
In Debug, g2o is not compiled with the
-march=nativeflag (CMAKE_CXX_FLAGS_RELEASE) while ORB_SLAM2 is, leading to alignment incompatibility, bad object addresses and seg fault.In Release, no incompatibility as the flag is used for both ORB_SLAM2 and g2o.
More information on the
-march=nativeflag in g2o : RainerKuemmerle/g2o#314.Probably fixes #493, fixes #634 and maybe fixes #605.