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I have a problem to compile syd with the last commit:
07/10/2016 correctly closed version
756b1a2
The problem comes from the link with Eigen and Ceres.
I finally succeed to compile it using the flag -fopenmp in CMAKE_CXX_FLAGS (with ccmake)
(ref: https://forums.freebsd.org/threads/9153/).
I start to find the problematic commit.