Use ceres::Manifolds instead of ceres::LocalParameterization. #3243
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The latter is deprecated.
asenyaev
requested review from
asenyaev and
victor1234
and removed request for
victor1234 and
asenyaev
victor1234
suggested changes
May 18, 2022
| @@ -494,8 +499,13 @@ void EuclideanBundleCommonIntrinsics( | |||
| constant_translation.push_back(4); | |||
| constant_translation.push_back(5); | |||
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| #if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 1 | |||
| constant_translation_parameterization = | |||
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You mean constant_translation_manifold?
victor1234
approved these changes
May 24, 2022
alalek
reviewed
May 24, 2022
| @@ -485,7 +486,11 @@ void EuclideanBundleCommonIntrinsics( | |||
| PackCamerasRotationAndTranslation(tracks, *reconstruction); | |||
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| // Parameterization used to restrict camera motion for modal solvers. | |||
| #if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 1 | |||
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This check is not accurate as 3.0 version returns false.
asmorkalov
reviewed
May 27, 2022
| @@ -538,8 +548,13 @@ void EuclideanBundleCommonIntrinsics( | |||
| } | |||
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| if (bundle_constraints & BUNDLE_NO_TRANSLATION) { | |||
| #if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 1 | |||
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The same issue with 3.0.
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Done, sorry about that.
| @@ -586,10 +601,17 @@ void EuclideanBundleCommonIntrinsics( | |||
| // Always set K3 constant, it's not used at the moment. | |||
| constant_intrinsics.push_back(OFFSET_K3); | |||
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| #if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 1 | |||
This was referenced Jun 4, 2022
Merged
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error: cannot initialize a parameter of type 'ceres::LocalParameterization *' with an lvalue of type 'ceres::SubsetManifold *' |
hakaboom
pushed a commit
to hakaboom/opencv_contrib
that referenced
this pull request
Jul 1, 2022
* Use ceres::Manifolds instead of ceres::LocalParameterization. The latter is deprecated. * Fix typo. * Fix version check. * And more version fixes.
Merged
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Use ceres::Manifolds instead of ceres::LocalParameterization.
The latter is deprecated.
This fixes #3218
Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request