From 1ee6ca8294334555a2ba2d5f83f095f408ce53ec Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <vlad.usenko@tum.de>
Date: Tue, 18 Jun 2019 15:16:24 +0200
Subject: [PATCH] small changes in Cmake

---
 src/mapper_sim_naive.cpp  | 4 ++--
 thirdparty/CMakeLists.txt | 7 +++++++
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/mapper_sim_naive.cpp b/src/mapper_sim_naive.cpp
index 46023ea..4cbfa16 100644
--- a/src/mapper_sim_naive.cpp
+++ b/src/mapper_sim_naive.cpp
@@ -77,8 +77,8 @@ void alignButton();
 
 static const int knot_time = 3;
 static const double obs_std_dev = 0.5;
-static const double accel_std_dev = 0.23;
-static const double gyro_std_dev = 0.0027;
+static const double accel_std_dev = 0.5;
+static const double gyro_std_dev = 0.008;
 
 static const double accel_bias_std_dev = 0.00123;
 static const double gyro_bias_std_dev = 0.000234;
diff --git a/thirdparty/CMakeLists.txt b/thirdparty/CMakeLists.txt
index 3ab7e11..24bcf5d 100644
--- a/thirdparty/CMakeLists.txt
+++ b/thirdparty/CMakeLists.txt
@@ -18,6 +18,13 @@ set(BUILD_PANGOLIN_LIBREALSENSE2 OFF CACHE BOOL "Enable librealsense2")
 set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
 set(EIGEN_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIR}")
 
+
+# Hack to disable march=native in opengv
+macro(add_definitions)
+  if(NOT ${ARGV0} STREQUAL "-march=native")
+    _add_definitions(${ARGN})
+  endif()
+endmacro()
 add_subdirectory(opengv EXCLUDE_FROM_ALL)
 
 # Hack to disable CPack in Pangolin.