fixed, successful build

src/LoopClosing.cc

@@ -982,7 +982,8 @@ void LoopClosing::CorrectLoop()
         unique_lock<mutex> lock(mMutexGBA);
         mbStopGBA = true;
 
-        mnFullBAIdx++;
+        //mnFullBAIdx++;
+        mnFullBAIdx = true;
 
         if(mpThreadGBA)
         {
@@ -1233,7 +1234,8 @@ void LoopClosing::MergeLocal()
         unique_lock<mutex> lock(mMutexGBA);
         mbStopGBA = true;
 
-        mnFullBAIdx++;
+        //mnFullBAIdx++;
+        mnFullBAIdx = true;
 
         if(mpThreadGBA)
         {
@@ -1806,7 +1808,9 @@ void LoopClosing::MergeLocal2()
         unique_lock<mutex> lock(mMutexGBA);
         mbStopGBA = true;
 
-        mnFullBAIdx++;
+        //mnFullBAIdx++;
+        mnFullBAIdx = true;
+
 
         if(mpThreadGBA)
         {

src/MapPoint.cc

@@ -366,30 +366,49 @@ void MapPoint::ComputeDistinctiveDescriptors()
         return;
 
     // Compute distances between them
-    const size_t N = vDescriptors.size();
+    const auto N = vDescriptors.size();
 
-    float Distances[N][N];
-    for(size_t i=0;i<N;i++)
+    //float Distances[N][N];
+    //cv::Mat Distances = cv::Mat(N, N, CV_32F);
+    vector<vector<float>> Distances;
+    typedef vector<float> Row;
+
+    // Fill Distances
+    for (size_t i = 0; i < N; ++i)
     {
-        Distances[i][i]=0;
-        for(size_t j=i+1;j<N;j++)
+        Row row(N);
+
+        for (size_t j = 0; j < N; ++j)
         {
-            int distij = ORBmatcher::DescriptorDistance(vDescriptors[i],vDescriptors[j]);
-            Distances[i][j]=distij;
-            Distances[j][i]=distij;
+            row[j] = 0;
+        }
+
+        Distances.push_back(row); // push each row after you fill it
+    }
+
+    for (size_t i = 0; i < N; i++)
+    {
+        Distances[i][i] = 0;
+        for (size_t j = i + 1; j < N; j++)
+        {
+            int distij = ORBmatcher::DescriptorDistance(vDescriptors[i], vDescriptors[j]);
+            Distances[i][j] = distij;
+            Distances[j][i] = distij;
         }
     }
 
     // Take the descriptor with least median distance to the rest
     int BestMedian = INT_MAX;
     int BestIdx = 0;
-    for(size_t i=0;i<N;i++)
+    for (size_t i = 0; i < N; i++)
     {
-        vector<int> vDists(Distances[i],Distances[i]+N);
-        sort(vDists.begin(),vDists.end());
-        int median = vDists[0.5*(N-1)];
+        // vector<int> vDists(Distances[i], Distances[i] + N);
+        // Since the line above just copies the array, let's do it in a normal way
+        vector<int> vDists(Distances[i].begin(), Distances[i].end());
+        sort(vDists.begin(), vDists.end());
+        int median = vDists[0.5 * (N - 1)];
 
-        if(median<BestMedian)
+        if (median < BestMedian)
         {
             BestMedian = median;
             BestIdx = i;