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Commit 0bf8676a authored by Idril-Tadzio Geer Cousté's avatar Idril-Tadzio Geer Cousté
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Removed hardcoded options

parent ff2e9bf4
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2 merge requests!436Release to start wolf public,!433After 2nd RA-L submission
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...@@ -117,14 +117,6 @@ struct ParamsCeres : public ParamsSolver ...@@ -117,14 +117,6 @@ struct ParamsCeres : public ParamsSolver
problem_options.loss_function_ownership = ceres::TAKE_OWNERSHIP; problem_options.loss_function_ownership = ceres::TAKE_OWNERSHIP;
problem_options.local_parameterization_ownership = ceres::DO_NOT_TAKE_OWNERSHIP; problem_options.local_parameterization_ownership = ceres::DO_NOT_TAKE_OWNERSHIP;
#if CERES_VERSION_MINOR >= 13
covariance_options.algorithm_type = ceres::SPARSE_QR;//ceres::DENSE_SVD;
covariance_options.sparse_linear_algebra_library_type = ceres::SUITE_SPARSE;
#elif CERES_VERSION_MINOR >= 10
covariance_options.algorithm_type = ceres::SUITE_SPARSE_QR;//ceres::DENSE_SVD;
#else
covariance_options.algorithm_type = ceres::SPARSE_QR;//ceres::DENSE_SVD;
#endif
covariance_options.apply_loss_function = false; covariance_options.apply_loss_function = false;
} }
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