[sfm] Update API to fit ceres::manifold for constant parameter group #…

…2152
openMVG · Feb 2, 2023 · 6d64a35 · 6d64a35
1 parent e1bbfe8
commit 6d64a35
Showing 1 changed file with 16 additions and 2 deletions.
diff --git a/src/openMVG/sfm/sfm_data_BA_ceres.cpp b/src/openMVG/sfm/sfm_data_BA_ceres.cpp
@@ -35,6 +35,8 @@
 namespace openMVG {
 namespace sfm {
 
+#define OPENMVG_CERES_HAS_MANIFOLD ((CERES_VERSION_MAJOR * 100 + CERES_VERSION_MINOR) >= 201)
+
 using namespace openMVG::cameras;
 using namespace openMVG::geometry;
 
@@ -279,9 +281,14 @@ bool Bundle_Adjustment_Ceres::Adjust
       }
       if (!vec_constant_extrinsic.empty())
       {
-        ceres::SubsetParameterization *subset_parameterization =
+#if OPENMVG_CERES_HAS_MANIFOLD
+        auto* subset_manifold = new ceres::SubsetManifold(6, vec_constant_extrinsic);
+        problem.SetManifold(parameter_block, subset_manifold);
+#else
+        auto *subset_parameterization =
           new ceres::SubsetParameterization(6, vec_constant_extrinsic);
         problem.SetParameterization(parameter_block, subset_parameterization);
+#endif
       }
     }
   }
@@ -309,10 +316,17 @@ bool Bundle_Adjustment_Ceres::Adjust
             intrinsic_it.second->subsetParameterization(options.intrinsics_opt);
           if (!vec_constant_intrinsic.empty())
           {
-            ceres::SubsetParameterization *subset_parameterization =
+#if OPENMVG_CERES_HAS_MANIFOLD
+            auto* subset_manifold =
+              new ceres::SubsetManifold(
+                map_intrinsics.at(indexCam).size(), vec_constant_intrinsic);
+            problem.SetManifold(parameter_block, subset_manifold);
+#else
+            auto *subset_parameterization =
               new ceres::SubsetParameterization(
                 map_intrinsics.at(indexCam).size(), vec_constant_intrinsic);
             problem.SetParameterization(parameter_block, subset_parameterization);
+#endif
           }
         }
       }