Support Ceres 2.1+ Manifolds in backwards-compatible manner#1405
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matlabbe merged 3 commits intointrolab:masterfrom Dec 14, 2024
Merged
Support Ceres 2.1+ Manifolds in backwards-compatible manner#1405matlabbe merged 3 commits intointrolab:masterfrom
matlabbe merged 3 commits intointrolab:masterfrom
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Ceres 2.1+ introduces "manifolds" in replacement of "local parameterizations". This PR supports manifolds in a backwards-compatible way, such that rtabmap can be compiled with both Ceres 2.1+ or older.