Crash on relocalization

[guilhermelawless]

Hi, First of all, thanks for the work you put into this and making it available.

On to the issue. I was having issue crashing when the reloc. procedure was triggered. The crash itself was on the NavState constructor. I nailed it down to the std::vector of Frames used to compute the bias in Tracking.h , explanation:

Eigen requires some procedures when using STL containers for Eigen objects or classes that contain them. I can't at the moment provide a pull request due to being unable to compile without multiple alterations, but here's the fix:

Tracking.h

#include <Eigen/StdVector>
(...)
vector<Frame, Eigen::aligned_allocator<Frame> > mv20FramesReloc;

And adapting the function in Optimizer and its function call here

Cheers

[jingpang]

Nice! I didn't notice that, thank you very much!