Ceres Version Problem

[ZhuStephen]

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]

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.