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Commit 22bc3807 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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EIGEN3_INCLUDE_DIRS -> EIGEN_INCLUDE_DIRS

parent 292a921f
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...@@ -134,7 +134,7 @@ ELSE (SPDLOG_INCLUDE_DIR) ...@@ -134,7 +134,7 @@ ELSE (SPDLOG_INCLUDE_DIR)
MESSAGE(FATAL_ERROR "Could not find spdlog") MESSAGE(FATAL_ERROR "Could not find spdlog")
ENDIF (SPDLOG_INCLUDE_DIR) ENDIF (SPDLOG_INCLUDE_DIR)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
IF(Ceres_FOUND) IF(Ceres_FOUND)
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
......
...@@ -19,7 +19,7 @@ CeresManager::CeresManager(ProblemPtr _wolf_problem, const ceres::Solver::Option ...@@ -19,7 +19,7 @@ CeresManager::CeresManager(ProblemPtr _wolf_problem, const ceres::Solver::Option
#else #else
covariance_options.algorithm_type = ceres::SPARSE_QR;//ceres::DENSE_SVD; covariance_options.algorithm_type = ceres::SPARSE_QR;//ceres::DENSE_SVD;
#endif #endif
covariance_options.num_threads = 8; covariance_options.num_threads = 1;
covariance_options.apply_loss_function = false; covariance_options.apply_loss_function = false;
//covariance_options.null_space_rank = -1; //covariance_options.null_space_rank = -1;
covariance_ = new ceres::Covariance(covariance_options); covariance_ = new ceres::Covariance(covariance_options);
......
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