Call activeRobustChi2 instead of activeChi2.
Fix EdgeSE3Prior::initialEstimate()

Thanks to David Krauss for reporting this issue
Android Build using NDK and android-cmake
Link Fix
Merge branch 'master' of https://github.com/RainerKuemmerle/g2o
Updating our copy of CSparse
Dogleg handles ill-conditioned Hessian
minor cmake update
added setZero button that sets all vertices to the zero position for all vertices.
saving initial frame instead of final frame
added changeId method to the basic graph class. This helps to rename vertices if needed
Fixed spelling mistake.
Reordered APPLE / UNIX test to print the system type properly.
optimization_algorithm_levenberg.cpp fixed bug where _ni was not being reset.
Near a global minima it is possible to find a constraint configuration where LM fails to make any good steps (rho<0)
In this case _currentLambda is scaled by _ni, and _ni*=2.
After repeated bad steps both _currentLambda and _ni are increased exponentially.
Normally on the next good step _ni is reset back to 2.
However a good step may not occur before _ni becomes "too large" and the solve() iteration finishes.
On the next call to solve() you reset _currentLambda back to the initial value (line 88). However _ni remains at the previous large value.
Have checked both SPA2d, and the stable version of G2O (graph_optimizer_sparse.cpp, line 346) and in both cases the _ni value is reset back to 2.0 on the first iteration of each solve().
Merge pull request #12 from rrfx/master

Patch to optimization_algorithm_levenberg.cpp
Merge branch 'master' of github.com:RainerKuemmerle/g2o
Merge branch 'master' of github.com:RainerKuemmerle/g2o
Modify Eigen Cholesky Solver a bit
Merge branch 'master' of https://github.com/RainerKuemmerle/g2o
added maxrange visualization option