patch_gtsam_v4_0_3.patch

diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h
index 0d7f3e108..8cdd438e2 100644
--- a/gtsam/geometry/SOn-inl.h
+++ b/gtsam/geometry/SOn-inl.h
@@ -22,9 +22,9 @@
 
 #include <iostream>
 
-using namespace std;
 
 namespace gtsam {
+using namespace std;
 
 // Implementation for N>5 just uses dynamic version
 template <int N>

PathDM-VIOForGTSAMv4_0_3.patch

Index: src/GTSAMIntegration/PoseTransformation.h
IDEA additional info:
Subsystem: com.intellij.openapi.diff.impl.patch.CharsetEP
<+>UTF-8
===================================================================
diff --git a/src/GTSAMIntegration/PoseTransformation.h b/src/GTSAMIntegration/PoseTransformation.h
--- a/src/GTSAMIntegration/PoseTransformation.h	(revision fcc306bf3bc2b7561f69fc76c7269927b71d384e)
+++ b/src/GTSAMIntegration/PoseTransformation.h	(date 1649802063704)
@@ -181,10 +181,10 @@
 
 // Method to build the relative Jacobian used for converting H,b in convertHAndBWithPoseTransformation and
 // for the PoseTransformationFactor.
-gtsam::Matrix buildRelativeJacobian(int n, const std::vector<gtsam::Key>& ordering, const std::vector<int>& dimensions,
-                                    const gtsam::Values& values, PoseTransformation& poseTransformation,
-                                    const DerivativeDirection& derivativeDirection, int numOpt,
-                                    const std::vector<int>& optPositions);
+gtsam::Matrix
+buildRelativeJacobian(int n, const gtsam::FastVector<gtsam::Key>& ordering, const std::vector<int>& dimensions,
+                      const gtsam::Values& values, PoseTransformation& poseTransformation,
+                      const DerivativeDirection& derivativeDirection, int numOpt, const std::vector<int>& optPositions);
 
 // Converts the DSO coarse tracking Hessian to GTSAM, transforming it with the PoseTransformation.
 // The passed transformIMUToCoarse needs to provide derivatives for frameToWorld and for referenceToWorld (see TransformIMUToDSOForCoarse as an example).
Index: src/GTSAMIntegration/PoseTransformation.cpp
IDEA additional info:
Subsystem: com.intellij.openapi.diff.impl.patch.CharsetEP
<+>UTF-8
===================================================================
diff --git a/src/GTSAMIntegration/PoseTransformation.cpp b/src/GTSAMIntegration/PoseTransformation.cpp
--- a/src/GTSAMIntegration/PoseTransformation.cpp	(revision fcc306bf3bc2b7561f69fc76c7269927b71d384e)
+++ b/src/GTSAMIntegration/PoseTransformation.cpp	(date 1649802027988)
@@ -225,7 +225,7 @@
 }
 
 gtsam::Matrix
-dmvio::buildRelativeJacobian(int n, const std::vector<gtsam::Key>& ordering, const std::vector<int>& dimensions,
+dmvio::buildRelativeJacobian(int n, const gtsam::FastVector<gtsam::Key>& ordering, const std::vector<int>& dimensions,
                              const gtsam::Values& values, PoseTransformation& poseTransformation,
                              const DerivativeDirection& derivativeDirection, int numOpt,
                              const std::vector<int>& optPositions)