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HKUST-Aerial-Robotics / A-LOAM

Advanced implementation of LOAM
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Ceres Version Problem #60

Open ZhuStephen opened 9 months ago

ZhuStephen commented 9 months ago

I install the Ceres with Version 2.1.0 , this Version removed the "LocalParameterization" and Use Manifold instead. How can I modify the code in laserMapping.cpp(row567-568) and the laserOdometry.cpp(row286-287)

peter-ivarsen commented 8 months ago

Think all you need to do is change :

ceres::LocalParameterization *q_parameterization = new ceres::EigenQuaternionParameterization();

to :

ceres::Manifold *q_parameterization = new ceres::EigenQuaternionManifold();

in both files.