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Thirdparty/g2o/config.h.in

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+#ifndef G2O_CONFIG_H
+#define G2O_CONFIG_H
+
+#cmakedefine G2O_OPENMP 1
+#cmakedefine G2O_SHARED_LIBS 1
+
+// give a warning if Eigen defaults to row-major matrices.
+// We internally assume column-major matrices throughout the code.
+#ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
+#  error "g2o requires column major Eigen matrices (see http://eigen.tuxfamily.org/bz/show_bug.cgi?id=422)"
+#endif
+
+#endif