diff --git a/thirdparty/g2o/vcxproj/core.vcxproj b/thirdparty/g2o/vcxproj/core.vcxproj
index 2cd171d4..10950610 100644
--- a/thirdparty/g2o/vcxproj/core.vcxproj
+++ b/thirdparty/g2o/vcxproj/core.vcxproj
@@ -69,10 +69,10 @@
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+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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+    <ClCompile Include="..\source\g2o\core\parameter.cpp" />
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+    <ClCompile Include="..\source\g2o\core\optimizable_graph.cpp" />
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+    <ClCompile Include="..\source\g2o\core\optimization_algorithm_factory.cpp" />
+    <ClCompile Include="..\source\g2o\core\estimate_propagator.cpp" />
+    <ClCompile Include="..\source\g2o\core\factory.cpp" />
+    <ClCompile Include="..\source\g2o\core\sparse_optimizer.cpp" />
+    <ClCompile Include="..\source\g2o\core\hyper_dijkstra.cpp" />
+    <ClCompile Include="..\source\g2o\core\parameter_container.cpp" />
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+    <ClCompile Include="..\source\g2o\core\optimization_algorithm_with_hessian.cpp" />
+    <ClCompile Include="..\source\g2o\core\optimization_algorithm_gauss_newton.cpp" />
+    <ClCompile Include="..\source\g2o\core\optimization_algorithm_levenberg.cpp" />
+    <ClCompile Include="..\source\g2o\core\optimization_algorithm_dogleg.cpp" />
+    <ClCompile Include="..\source\g2o\core\sparse_optimizer_terminate_action.cpp" />
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+    <ClCompile Include="..\source\g2o\core\robust_kernel.cpp" />
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index 32ebf2ae..cc2df6d0 100644
--- a/thirdparty/g2o/vcxproj/core.vcxproj.filters
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@@ -1,210 +1,210 @@
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       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\base_multi_edge.h">
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       <Filter>Header Files</Filter>
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     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\openmp_mutex.h">
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-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\block_solver.h">
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-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\cache.h">
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     </ClInclude>
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     </ClInclude>
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+    <ClInclude Include="..\source\g2o\core\solver.h">
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     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\creators.h">
+    <ClInclude Include="..\source\g2o\core\creators.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\optimization_algorithm_factory.h">
+    <ClInclude Include="..\source\g2o\core\optimization_algorithm_factory.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\estimate_propagator.h">
+    <ClInclude Include="..\source\g2o\core\estimate_propagator.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\optimization_algorithm_property.h">
+    <ClInclude Include="..\source\g2o\core\optimization_algorithm_property.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\factory.h">
+    <ClInclude Include="..\source\g2o\core\factory.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\sparse_block_matrix.h">
+    <ClInclude Include="..\source\g2o\core\sparse_block_matrix.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\sparse_block_matrix.hpp">
+    <ClInclude Include="..\source\g2o\core\sparse_block_matrix.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\sparse_optimizer.h">
+    <ClInclude Include="..\source\g2o\core\sparse_optimizer.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\hyper_dijkstra.h">
+    <ClInclude Include="..\source\g2o\core\hyper_dijkstra.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\parameter_container.h">
+    <ClInclude Include="..\source\g2o\core\parameter_container.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\optimization_algorithm.h">
+    <ClInclude Include="..\source\g2o\core\optimization_algorithm.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\optimization_algorithm_with_hessian.h">
+    <ClInclude Include="..\source\g2o\core\optimization_algorithm_with_hessian.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\optimization_algorithm_gauss_newton.h">
+    <ClInclude Include="..\source\g2o\core\optimization_algorithm_gauss_newton.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\optimization_algorithm_levenberg.h">
+    <ClInclude Include="..\source\g2o\core\optimization_algorithm_levenberg.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\optimization_algorithm_dogleg.h">
+    <ClInclude Include="..\source\g2o\core\optimization_algorithm_dogleg.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\sparse_optimizer_terminate_action.h">
+    <ClInclude Include="..\source\g2o\core\sparse_optimizer_terminate_action.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\jacobian_workspace.h">
+    <ClInclude Include="..\source\g2o\core\jacobian_workspace.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\robust_kernel.h">
+    <ClInclude Include="..\source\g2o\core\robust_kernel.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\robust_kernel_impl.h">
+    <ClInclude Include="..\source\g2o\core\robust_kernel_impl.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\robust_kernel_factory.h">
+    <ClInclude Include="..\source\g2o\core\robust_kernel_factory.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\core\g2o_core_api.h">
+    <ClInclude Include="..\source\g2o\core\g2o_core_api.h">
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@@ -216,4 +216,4 @@
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diff --git a/thirdparty/g2o/vcxproj/csparse.vcxproj b/thirdparty/g2o/vcxproj/csparse.vcxproj
index 086a6267..b3dead98 100644
--- a/thirdparty/g2o/vcxproj/csparse.vcxproj
+++ b/thirdparty/g2o/vcxproj/csparse.vcxproj
@@ -67,10 +67,10 @@
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+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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     <Midl>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
       <HeaderFileName>%(Filename).h</HeaderFileName>
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@@ -105,10 +105,10 @@
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+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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     <Midl>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
       <HeaderFileName>%(Filename).h</HeaderFileName>
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@@ -126,58 +126,58 @@
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-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_add.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_amd.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_chol.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_cholsol.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_compress.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_counts.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_cumsum.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_dfs.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_dmperm.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_droptol.c" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_dropzeros.c" />
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-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_entry.c" />
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+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_amd.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_chol.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_cholsol.c" />
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+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_counts.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_cumsum.c" />
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+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_droptol.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_dropzeros.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_dupl.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_entry.c" />
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+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_gaxpy.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_happly.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_house.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_ipvec.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_leaf.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_load.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_lsolve.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_ltsolve.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_lu.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_lusol.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_malloc.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_maxtrans.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_multiply.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_norm.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_permute.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_pinv.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_post.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_print.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_pvec.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_qr.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_qrsol.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_randperm.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_reach.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_scatter.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_scc.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_schol.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_spsolve.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_sqr.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_symperm.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_tdfs.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_transpose.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_updown.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_usolve.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_util.c" />
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_utsolve.c" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
diff --git a/thirdparty/g2o/vcxproj/csparse.vcxproj.filters b/thirdparty/g2o/vcxproj/csparse.vcxproj.filters
index 1783dff9..49a53863 100644
--- a/thirdparty/g2o/vcxproj/csparse.vcxproj.filters
+++ b/thirdparty/g2o/vcxproj/csparse.vcxproj.filters
@@ -1,162 +1,162 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <ItemGroup>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_add.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_add.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_amd.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_amd.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_chol.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_chol.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_cholsol.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_cholsol.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_compress.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_compress.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_counts.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_counts.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_cumsum.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_cumsum.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_dfs.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_dfs.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_dmperm.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_dmperm.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_droptol.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_droptol.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_dropzeros.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_dropzeros.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_dupl.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_dupl.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_entry.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_entry.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_ereach.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_ereach.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_etree.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_etree.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_fkeep.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_fkeep.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_gaxpy.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_gaxpy.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_happly.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_happly.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_house.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_house.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_ipvec.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_ipvec.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_leaf.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_leaf.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_load.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_load.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_lsolve.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_lsolve.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_ltsolve.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_ltsolve.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_lu.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_lu.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_lusol.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_lusol.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_malloc.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_malloc.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_maxtrans.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_maxtrans.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_multiply.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_multiply.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_norm.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_norm.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_permute.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_permute.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_pinv.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_pinv.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_post.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_post.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_print.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_print.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_pvec.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_pvec.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_qr.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_qr.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_qrsol.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_qrsol.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_randperm.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_randperm.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_reach.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_reach.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_scatter.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_scatter.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_scc.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_scc.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_schol.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_schol.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_spsolve.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_spsolve.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_sqr.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_sqr.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_symperm.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_symperm.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_tdfs.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_tdfs.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_transpose.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_transpose.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_updown.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_updown.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_usolve.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_usolve.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_util.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_util.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_utsolve.c">
+    <ClCompile Include="..\source\EXTERNAL\csparse\cs_utsolve.c">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse\cs_api.h">
+    <ClInclude Include="..\source\EXTERNAL\csparse\cs_api.h">
       <Filter>Header Files</Filter>
     </ClInclude>
   </ItemGroup>
diff --git a/thirdparty/g2o/vcxproj/csparse_extension.vcxproj b/thirdparty/g2o/vcxproj/csparse_extension.vcxproj
index c6eca0c8..2c40b608 100644
--- a/thirdparty/g2o/vcxproj/csparse_extension.vcxproj
+++ b/thirdparty/g2o/vcxproj/csparse_extension.vcxproj
@@ -69,10 +69,10 @@
     </ClCompile>
     <ResourceCompile>
       <PreprocessorDefinitions>WIN32;_WINDOWS;_DEBUG;WINDOWS;NOMINMAX;_USE_MATH_DEFINES;CMAKE_INTDIR=\"Debug\";csparse_extension_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;..\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ResourceCompile>
     <Midl>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;..\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
       <HeaderFileName>%(Filename).h</HeaderFileName>
       <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
@@ -108,10 +108,10 @@
     </ClCompile>
     <ResourceCompile>
       <PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;WINDOWS;NOMINMAX;_USE_MATH_DEFINES;CMAKE_INTDIR=\"Release\";csparse_extension_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;..\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ResourceCompile>
     <Midl>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;..\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
       <HeaderFileName>%(Filename).h</HeaderFileName>
       <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
@@ -130,9 +130,9 @@
     <ProjectReference />
   </ItemDefinitionGroup>
   <ItemGroup>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\csparse_helper.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\g2o_csparse_extension_api.h" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\csparse_helper.cpp" />
+    <ClInclude Include="..\source\g2o\solvers\csparse\csparse_helper.h" />
+    <ClInclude Include="..\source\g2o\solvers\csparse\g2o_csparse_extension_api.h" />
+    <ClCompile Include="..\source\g2o\solvers\csparse\csparse_helper.cpp" />
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="csparse.vcxproj">
diff --git a/thirdparty/g2o/vcxproj/csparse_extension.vcxproj.filters b/thirdparty/g2o/vcxproj/csparse_extension.vcxproj.filters
index 8fc1a253..925d066c 100644
--- a/thirdparty/g2o/vcxproj/csparse_extension.vcxproj.filters
+++ b/thirdparty/g2o/vcxproj/csparse_extension.vcxproj.filters
@@ -1,15 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <ItemGroup>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\csparse_helper.cpp">
+    <ClCompile Include="..\source\g2o\solvers\csparse\csparse_helper.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\csparse_helper.h">
+    <ClInclude Include="..\source\g2o\solvers\csparse\csparse_helper.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\g2o_csparse_extension_api.h">
+    <ClInclude Include="..\source\g2o\solvers\csparse\g2o_csparse_extension_api.h">
       <Filter>Header Files</Filter>
     </ClInclude>
   </ItemGroup>
diff --git a/thirdparty/g2o/vcxproj/solver_csparse.vcxproj b/thirdparty/g2o/vcxproj/solver_csparse.vcxproj
index 2957a0c5..79da6f28 100644
--- a/thirdparty/g2o/vcxproj/solver_csparse.vcxproj
+++ b/thirdparty/g2o/vcxproj/solver_csparse.vcxproj
@@ -69,10 +69,10 @@
     </ClCompile>
     <ResourceCompile>
       <PreprocessorDefinitions>WIN32;_WINDOWS;_DEBUG;WINDOWS;NOMINMAX;_USE_MATH_DEFINES;CMAKE_INTDIR=\"Debug\";solver_csparse_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;..\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ResourceCompile>
     <Midl>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;..\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
       <HeaderFileName>%(Filename).h</HeaderFileName>
       <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
@@ -108,10 +108,10 @@
     </ClCompile>
     <ResourceCompile>
       <PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;WINDOWS;NOMINMAX;_USE_MATH_DEFINES;CMAKE_INTDIR=\"Release\";solver_csparse_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;..\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ResourceCompile>
     <Midl>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;C:\code\lsd_slam_windows\thirdparty\g2o\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;..\source\EXTERNAL\csparse;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
       <HeaderFileName>%(Filename).h</HeaderFileName>
       <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
@@ -130,9 +130,9 @@
     <ProjectReference />
   </ItemDefinitionGroup>
   <ItemGroup>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\linear_solver_csparse.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\g2o_csparse_api.h" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\solver_csparse.cpp" />
+    <ClInclude Include="..\source\g2o\solvers\csparse\linear_solver_csparse.h" />
+    <ClInclude Include="..\source\g2o\solvers\csparse\g2o_csparse_api.h" />
+    <ClCompile Include="..\source\g2o\solvers\csparse\solver_csparse.cpp" />
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="core.vcxproj">
diff --git a/thirdparty/g2o/vcxproj/solver_csparse.vcxproj.filters b/thirdparty/g2o/vcxproj/solver_csparse.vcxproj.filters
index da603198..9de7337e 100644
--- a/thirdparty/g2o/vcxproj/solver_csparse.vcxproj.filters
+++ b/thirdparty/g2o/vcxproj/solver_csparse.vcxproj.filters
@@ -1,15 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <ItemGroup>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\solver_csparse.cpp">
+    <ClCompile Include="..\source\g2o\solvers\csparse\solver_csparse.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\linear_solver_csparse.h">
+    <ClInclude Include="..\source\g2o\solvers\csparse\linear_solver_csparse.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\solvers\csparse\g2o_csparse_api.h">
+    <ClInclude Include="..\source\g2o\solvers\csparse\g2o_csparse_api.h">
       <Filter>Header Files</Filter>
     </ClInclude>
   </ItemGroup>
diff --git a/thirdparty/g2o/vcxproj/stuff.vcxproj b/thirdparty/g2o/vcxproj/stuff.vcxproj
index c31d2fdc..b79f97c8 100644
--- a/thirdparty/g2o/vcxproj/stuff.vcxproj
+++ b/thirdparty/g2o/vcxproj/stuff.vcxproj
@@ -69,10 +69,10 @@
     </ClCompile>
     <ResourceCompile>
       <PreprocessorDefinitions>WIN32;_WINDOWS;_DEBUG;WINDOWS;NOMINMAX;_USE_MATH_DEFINES;CMAKE_INTDIR=\"Debug\";stuff_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ResourceCompile>
     <Midl>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
       <HeaderFileName>%(Filename).h</HeaderFileName>
       <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
@@ -107,10 +107,10 @@
     </ClCompile>
     <ResourceCompile>
       <PreprocessorDefinitions>WIN32;_WINDOWS;NDEBUG;WINDOWS;NOMINMAX;_USE_MATH_DEFINES;CMAKE_INTDIR=\"Release\";stuff_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
     </ResourceCompile>
     <Midl>
-      <AdditionalIncludeDirectories>C:\code\lsd_slam_windows\thirdparty\g2o\source;C:\code\lsd_slam_windows\thirdparty\eigen-3.2.5;C:\code\lsd_slam_windows\thirdparty\g2o\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\source;..\..\eigen-3.2.5;..\build;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <OutputDirectory>$(ProjectDir)/$(IntDir)</OutputDirectory>
       <HeaderFileName>%(Filename).h</HeaderFileName>
       <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
@@ -129,34 +129,34 @@
     <ProjectReference />
   </ItemDefinitionGroup>
   <ItemGroup>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\filesys_tools.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\string_tools.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\color_macros.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\macros.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\misc.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\timeutil.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\command_args.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\sparse_helper.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\os_specific.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\property.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\sampler.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\unscented.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\tictoc.h" />
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\g2o_stuff_api.h" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\timeutil.cpp" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\command_args.cpp" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\sparse_helper.cpp" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\os_specific.c">
+    <ClInclude Include="..\source\g2o\stuff\filesys_tools.h" />
+    <ClInclude Include="..\source\g2o\stuff\string_tools.h" />
+    <ClInclude Include="..\source\g2o\stuff\color_macros.h" />
+    <ClInclude Include="..\source\g2o\stuff\macros.h" />
+    <ClInclude Include="..\source\g2o\stuff\misc.h" />
+    <ClInclude Include="..\source\g2o\stuff\timeutil.h" />
+    <ClInclude Include="..\source\g2o\stuff\command_args.h" />
+    <ClInclude Include="..\source\g2o\stuff\sparse_helper.h" />
+    <ClInclude Include="..\source\g2o\stuff\os_specific.h" />
+    <ClInclude Include="..\source\g2o\stuff\property.h" />
+    <ClInclude Include="..\source\g2o\stuff\sampler.h" />
+    <ClInclude Include="..\source\g2o\stuff\unscented.h" />
+    <ClInclude Include="..\source\g2o\stuff\tictoc.h" />
+    <ClInclude Include="..\source\g2o\stuff\g2o_stuff_api.h" />
+    <ClCompile Include="..\source\g2o\stuff\timeutil.cpp" />
+    <ClCompile Include="..\source\g2o\stuff\command_args.cpp" />
+    <ClCompile Include="..\source\g2o\stuff\sparse_helper.cpp" />
+    <ClCompile Include="..\source\g2o\stuff\os_specific.c">
       <CompileAs Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">CompileAsC</CompileAs>
       <CompileAs Condition="'$(Configuration)|$(Platform)'=='Release|x64'">CompileAsC</CompileAs>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\filesys_tools.cpp" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\string_tools.cpp" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\property.cpp" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\sampler.cpp" />
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\tictoc.cpp" />
+    <ClCompile Include="..\source\g2o\stuff\filesys_tools.cpp" />
+    <ClCompile Include="..\source\g2o\stuff\string_tools.cpp" />
+    <ClCompile Include="..\source\g2o\stuff\property.cpp" />
+    <ClCompile Include="..\source\g2o\stuff\sampler.cpp" />
+    <ClCompile Include="..\source\g2o\stuff\tictoc.cpp" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
   </ImportGroup>
-</Project>
\ No newline at end of file
+</Project>
diff --git a/thirdparty/g2o/vcxproj/stuff.vcxproj.filters b/thirdparty/g2o/vcxproj/stuff.vcxproj.filters
index f5b21508..7b71c28c 100644
--- a/thirdparty/g2o/vcxproj/stuff.vcxproj.filters
+++ b/thirdparty/g2o/vcxproj/stuff.vcxproj.filters
@@ -1,75 +1,75 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <ItemGroup>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\timeutil.cpp">
+    <ClCompile Include="..\source\g2o\stuff\timeutil.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\command_args.cpp">
+    <ClCompile Include="..\source\g2o\stuff\command_args.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\sparse_helper.cpp">
+    <ClCompile Include="..\source\g2o\stuff\sparse_helper.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\os_specific.c">
+    <ClCompile Include="..\source\g2o\stuff\os_specific.c">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\filesys_tools.cpp">
+    <ClCompile Include="..\source\g2o\stuff\filesys_tools.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\string_tools.cpp">
+    <ClCompile Include="..\source\g2o\stuff\string_tools.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\property.cpp">
+    <ClCompile Include="..\source\g2o\stuff\property.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\sampler.cpp">
+    <ClCompile Include="..\source\g2o\stuff\sampler.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\tictoc.cpp">
+    <ClCompile Include="..\source\g2o\stuff\tictoc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\filesys_tools.h">
+    <ClInclude Include="..\source\g2o\stuff\filesys_tools.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\string_tools.h">
+    <ClInclude Include="..\source\g2o\stuff\string_tools.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\color_macros.h">
+    <ClInclude Include="..\source\g2o\stuff\color_macros.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\macros.h">
+    <ClInclude Include="..\source\g2o\stuff\macros.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\misc.h">
+    <ClInclude Include="..\source\g2o\stuff\misc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\timeutil.h">
+    <ClInclude Include="..\source\g2o\stuff\timeutil.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\command_args.h">
+    <ClInclude Include="..\source\g2o\stuff\command_args.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\sparse_helper.h">
+    <ClInclude Include="..\source\g2o\stuff\sparse_helper.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\os_specific.h">
+    <ClInclude Include="..\source\g2o\stuff\os_specific.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\property.h">
+    <ClInclude Include="..\source\g2o\stuff\property.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\sampler.h">
+    <ClInclude Include="..\source\g2o\stuff\sampler.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\unscented.h">
+    <ClInclude Include="..\source\g2o\stuff\unscented.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\tictoc.h">
+    <ClInclude Include="..\source\g2o\stuff\tictoc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="C:\code\lsd_slam_windows\thirdparty\g2o\source\g2o\stuff\g2o_stuff_api.h">
+    <ClInclude Include="..\source\g2o\stuff\g2o_stuff_api.h">
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     </ClInclude>
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@@ -81,4 +81,4 @@
       <UniqueIdentifier>{FB3682BD-EB0D-4A85-882D-8AD40B741EB9}</UniqueIdentifier>
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   </ItemGroup>
-</Project>
\ No newline at end of file
+</Project>