g2o patch on ros noetic version (ee3d9488eeaa22f9d4ee9de46408968d42157a56) with fix against "g2o/csparse cholesky failed!"

g2o_ee3d9488eeaa22f9d4ee9de46408968d42157a56_aarch64.patch

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1b89b6c8..0202a4b7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -224,11 +224,6 @@ macro(DEFINE_SSE_VAR  _setname)
 endmacro(DEFINE_SSE_VAR)
 
 # SSE optimizations:
-DEFINE_SSE_VAR(SSE2)
-DEFINE_SSE_VAR(SSE3)
-DEFINE_SSE_VAR(SSE4_1)
-DEFINE_SSE_VAR(SSE4_2)
-DEFINE_SSE_VAR(SSE4_A)
 
 # Add build flags for clang AND GCC
 if (${CMAKE_CXX_COMPILER_ID} MATCHES "Clang" OR CMAKE_COMPILER_IS_GNUCXX)
diff --git a/g2o/core/optimization_algorithm_levenberg.cpp b/g2o/core/optimization_algorithm_levenberg.cpp
index dece525d..bc334e06 100644
--- a/g2o/core/optimization_algorithm_levenberg.cpp
+++ b/g2o/core/optimization_algorithm_levenberg.cpp
@@ -119,11 +119,11 @@ namespace g2o {
         tempChi=std::numeric_limits<number_t>::max();
 
       rho = (currentChi-tempChi);
-      number_t scale = computeScale();
-      scale += cst(1e-3); // make sure it's non-zero :)
+      // Patch: https://github.com/RainerKuemmerle/g2o/commit/4145b3ead71c2f54f191980e65a277552c09e29a
+      number_t scale = ok2?computeScale()+ cst(1e-3):1; // make sure it's non-zero :)
       rho /=  scale;
 
-      if (rho>0 && g2o_isfinite(tempChi)){ // last step was good
+      if (rho>0 && g2o_isfinite(tempChi) && ok2){ // last step was good
         number_t alpha = 1.-pow((2*rho-1),3);
         // crop lambda between minimum and maximum factors
         alpha = (std::min)(alpha, _goodStepUpperScale);

g2o_ee3d9488eeaa22f9d4ee9de46408968d42157a56_x86_64.patch

diff --git a/g2o/core/optimization_algorithm_levenberg.cpp b/g2o/core/optimization_algorithm_levenberg.cpp
index dece525d..bc334e06 100644
--- a/g2o/core/optimization_algorithm_levenberg.cpp
+++ b/g2o/core/optimization_algorithm_levenberg.cpp
@@ -119,11 +119,11 @@ namespace g2o {
         tempChi=std::numeric_limits<number_t>::max();
 
       rho = (currentChi-tempChi);
-      number_t scale = computeScale();
-      scale += cst(1e-3); // make sure it's non-zero :)
+      // Patch: https://github.com/RainerKuemmerle/g2o/commit/4145b3ead71c2f54f191980e65a277552c09e29a
+      number_t scale = ok2?computeScale()+ cst(1e-3):1; // make sure it's non-zero :)
       rho /=  scale;
 
-      if (rho>0 && g2o_isfinite(tempChi)){ // last step was good
+      if (rho>0 && g2o_isfinite(tempChi) && ok2){ // last step was good
         number_t alpha = 1.-pow((2*rho-1),3);
         // crop lambda between minimum and maximum factors
         alpha = (std::min)(alpha, _goodStepUpperScale);