From 25ae6d43df9ed3d30c65f103d30a36dd1fc03c20 Mon Sep 17 00:00:00 2001
From: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
Date: Tue, 6 Aug 2019 01:33:02 +0200
Subject: [PATCH 1/2] Make serialization functions for non-basalt types static.

See: https://groups.google.com/d/msg/cerealcpp/WswQi_Sh-bw/Pw0GrfIqFQAJ
---
 include/basalt/io/dataset_io.h | 4 ++--
 src/io/marg_data_io.cpp        | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/basalt/io/dataset_io.h b/include/basalt/io/dataset_io.h
index 1a209ed..9f4843f 100644
--- a/include/basalt/io/dataset_io.h
+++ b/include/basalt/io/dataset_io.h
@@ -157,7 +157,7 @@ namespace cereal {
 
 template <class Archive, class _Scalar, int _Rows, int _Cols, int _Options,
           int _MaxRows, int _MaxCols>
-inline
+static inline
     typename std::enable_if<_Rows == Eigen::Dynamic || _Cols == Eigen::Dynamic,
                             void>::type
     save(Archive &ar, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options,
@@ -171,7 +171,7 @@ inline
 
 template <class Archive, class _Scalar, int _Rows, int _Cols, int _Options,
           int _MaxRows, int _MaxCols>
-inline
+static inline
     typename std::enable_if<_Rows == Eigen::Dynamic || _Cols == Eigen::Dynamic,
                             void>::type
     load(Archive &ar,
diff --git a/src/io/marg_data_io.cpp b/src/io/marg_data_io.cpp
index 11971e8..7e30677 100644
--- a/src/io/marg_data_io.cpp
+++ b/src/io/marg_data_io.cpp
@@ -222,7 +222,7 @@ void serialize(Archive& ar, basalt::ImageData& m) {
 }
 
 template <class Archive>
-void serialize(Archive& ar, Eigen::AffineCompact2f& m) {
+static void serialize(Archive& ar, Eigen::AffineCompact2f& m) {
   ar(m.matrix());
 }
 }  // namespace cereal

From d8c39a29a5c323fdf3403197f1546073d427c645 Mon Sep 17 00:00:00 2001
From: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
Date: Tue, 6 Aug 2019 11:00:37 +0200
Subject: [PATCH 2/2] update basalt-headers

---
 thirdparty/basalt-headers | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index 12b6290..2ae558c 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit 12b6290f01aa49c15cfec4d8ed8f347323678297
+Subproject commit 2ae558ce2b494d21908391b89cf13df93d0dcfa9