fix compilation errors

Schweizer-Messer/python_module/cmake/add_python_export_library.cmake

@@ -85,8 +85,8 @@ ${SETUP_PY_TEXT}
       #
       list(APPEND BOOST_COMPONENTS python27)
     endif()
-  else()
-    list(APPEND BOOST_COMPONENTS python38)
+  else()	  
+     list(APPEND BOOST_COMPONENTS python39)
   endif()
   find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS}) 
 
@@ -109,7 +109,15 @@ ${SETUP_PY_TEXT}
       ENDIF()
     ENDIF()
   ENDIF(APPLE)
-
+
+  GET_FILENAME_COMPONENT(REAL_PYTHON_INCLUDE ${PYTHON_INCLUDE_DIRS} REALPATH)
+  FIND_PATH(NUMPY_INCLUDE_DIR arrayobject.h
+          ${PYTHON_INCLUDE_DIRS}/site-packages/numpy/core/include/numpy
+  )
+  IF(NOT ${NUMPY_INCLUDE_DIR} MATCHES NOTFOUND)
+    INCLUDE_DIRECTORIES(${NUMPY_INCLUDE_DIR})
+    INCLUDE_DIRECTORIES(${NUMPY_INCLUDE_DIR}/..)
+  ENDIF()
 
   # message("Target files: ${ARGN}")
   # Create the target and assign source files

Schweizer-Messer/sm_boost/include/boost/portable_binary_archive.hpp

@@ -28,7 +28,7 @@
 #endif
 
 #include <boost/archive/basic_archive.hpp>
-#include <boost/detail/endian.hpp>
+#include "endian.h"
 
 
 namespace boost {

Schweizer-Messer/sm_boost/include/boost/portable_binary_oarchive.cpp

@@ -0,0 +1,103 @@
+/////////1/////////2/////////3/////////4/////////5/////////6/////////7/////////8
+// portable_binary_oarchive.cpp
+
+// (C) Copyright 2002-7 Robert Ramey - http://www.rrsd.com . 
+// Use, modification and distribution is subject to the Boost Software
+// License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
+// http://www.boost.org/LICENSE_1_0.txt)
+
+//  See http://www.boost.org for updates, documentation, and revision history.
+
+#include <ostream>
+#include "endian.h"
+#include <boost/portable_binary_oarchive.hpp>
+
+namespace boost {
+    namespace archive {
+
+void 
+portable_binary_oarchive::save_impl(
+    const boost::intmax_t l,
+    const char /* maxsize */
+){
+    char size = 0;
+
+    if(l == 0){
+        this->primitive_base_t::save(size);
+        return;
+    }
+
+    boost::intmax_t ll;
+    bool negative = (l < 0);
+    if(negative)
+        ll = -l;
+    else
+        ll = l;
+
+    do{
+        ll >>= CHAR_BIT;
+        ++size;
+    }while(ll != 0);
+
+    this->primitive_base_t::save(
+        static_cast<char>(negative ? -size : size)
+    );
+
+    if(negative)
+        ll = -l;
+    else
+        ll = l;
+    char * cptr = reinterpret_cast<char *>(& ll);
+    #ifdef BOOST_BIG_ENDIAN
+        cptr += (sizeof(boost::intmax_t) - size);
+        if(m_flags & endian_little)
+            reverse_bytes(size, cptr);
+    #else
+        if(m_flags & endian_big)
+            reverse_bytes(size, cptr);
+    #endif
+    this->primitive_base_t::save_binary(cptr, size);
+}
+
+void 
+portable_binary_oarchive::init(unsigned int flags) {
+    if(m_flags == (endian_big | endian_little)){
+        boost::serialization::throw_exception(
+            portable_binary_oarchive_exception()
+        );
+    }
+    if(0 == (flags & boost::archive::no_header)){
+        // write signature in an archive version independent manner
+        const std::string file_signature(
+            boost::archive::BOOST_ARCHIVE_SIGNATURE()
+        );
+        * this << file_signature;
+        // write library version
+        const boost::archive::library_version_type v(
+            boost::archive::BOOST_ARCHIVE_VERSION()
+        );
+        * this << v;
+    }
+    save(static_cast<unsigned char>(m_flags >> CHAR_BIT));
+}
+
+} // namespace archive
+} // namespace boost
+#include <boost/archive/impl/archive_serializer_map.ipp>
+#include <boost/archive/impl/basic_binary_oprimitive.ipp>
+
+namespace boost {
+namespace archive {
+
+namespace detail {
+    template class archive_serializer_map<portable_binary_oarchive>;
+}
+
+template class basic_binary_oprimitive<
+    portable_binary_oarchive,
+    std::ostream::char_type, 
+    std::ostream::traits_type
+> ;
+
+} // namespace archive
+} // namespace boost

aslam_nonparametric_estimation/bsplines_python/src/BSplinePython.cpp

@@ -36,17 +36,21 @@ template <class T> class BiFunction {
 
 boost::python::object getBiFunction(const bsplines::BSpline * bs, double t)
 {
-	typedef Eigen::CwiseNullaryOp <BiVector, Eigen::VectorXd> T;
-	return boost::python::make_function(boost::bind(&BiFunction<T>::getBi, BiFunction<T>(bs->getBiVector(t)), _1)
-	 	 , boost::python::default_call_policies(), boost::mpl::vector2<double,int>()
-	);
+    typedef Eigen::CwiseNullaryOp <BiVector, Eigen::VectorXd> T;
+    return boost::python::make_function(boost::bind(&BiFunction<T>::getBi, BiFunction<T>(bs->getBiVector(t)),
+            boost::placeholders::_1), boost::python::default_call_policies(), boost::mpl::vector2<double, int>());
 }
-boost::python::object getCumulativeBiFunction(const bsplines::BSpline * bs, double t)
+
+boost::python::object getCumulativeBiFunction(const bsplines::BSpline* bs, double t)
 {
-	typedef Eigen::CwiseNullaryOp <BiVector, Eigen::VectorXd> T;
-	return boost::python::make_function(boost::bind(&BiFunction<T>::getBi, BiFunction<T>(bs->getCumulativeBiVector(t)), _1)
-	 	 , boost::python::default_call_policies(), boost::mpl::vector2<double,int>()
-	);
+    typedef Eigen::CwiseNullaryOp <BiVector, Eigen::VectorXd> T;
+
+    auto wrapped_function = [bs, t](int arg1) -> double {
+        BiFunction<T> bifunc(bs->getCumulativeBiVector(t));
+        return bifunc.getBi(arg1);  // Call getBi with the int argument
+    };
+
+    return boost::python::make_function(wrapped_function, boost::python::default_call_policies(), boost::mpl::vector2<double, int>());
 }
 
 void import_bspline_python()

aslam_optimizer/sparse_block_matrix/include/sparse_block_matrix/sparse_helper.h

@@ -75,7 +75,7 @@ namespace {
   template<>
   struct IntType< long >
   {
-      static const int intType = CHOLMOD_INTLONG;
+      static const int intType = CHOLMOD_LONG;
   };
   template<>
   struct IntType< int >