From 0bf8676a59d9189e8d4821a66a38201d803cb7fb Mon Sep 17 00:00:00 2001
From: Idril Geer <igeer@iri.upc.edu>
Date: Tue, 30 Nov 2021 14:47:56 +0100
Subject: [PATCH] Removed hardcoded options
---
include/core/ceres_wrapper/solver_ceres.h | 8 --------
1 file changed, 8 deletions(-)
diff --git a/include/core/ceres_wrapper/solver_ceres.h b/include/core/ceres_wrapper/solver_ceres.h
index bb0e117c7..ccb51c65e 100644
--- a/include/core/ceres_wrapper/solver_ceres.h
+++ b/include/core/ceres_wrapper/solver_ceres.h
@@ -117,14 +117,6 @@ struct ParamsCeres : public ParamsSolver
problem_options.loss_function_ownership = ceres::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;
}
--
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