VOLDOR uses Ceres deperecated functions

[mrsaleh]

because of the removal of deprecated functions and classes like "LocalParameterization" , the code can not be built with newer versions of ceres.

sc /Tp../../pose-graph\pgo.cpp /Fobuild\temp.win-amd64-3.10\Release\../../pose-graph\pgo.obj /std:c++17
pgo.cpp
../../pose-graph\pgo.cpp(14): error C2039: 'LocalParameterization': is not a member of 'ceres'
C:/Program Files (x86)/Ceres/include\ceres/rotation.h(55): note: see declaration of 'ceres'
../../pose-graph\pgo.cpp(14): error C2065: 'LocalParameterization': undeclared identifier
../../pose-graph\pgo.cpp(14): error C2065: 'quaternion_local_parameterization': undeclared identifier
../../pose-graph\pgo.cpp(15): error C2039: 'EigenQuaternionParameterization': is not a member of 'ceres'
C:/Program Files (x86)/Ceres/include\ceres/rotation.h(55): note: see declaration of 'ceres'
../../pose-graph\pgo.cpp(15): error C2061: syntax error: identifier 'EigenQuaternionParameterization'
../../pose-graph\pgo.cpp(51): error C2039: 'SetParameterization': is not a member of 'ceres::Problem'
C:/Program Files (x86)/Ceres/include\ceres/problem.h(120): note: see declaration of 'ceres::Problem'
../../pose-graph\pgo.cpp(52): error C2065: 'quaternion_local_parameterization': undeclared identifier
../../pose-graph\pgo.cpp(53): error C2039: 'SetParameterization': is not a member of 'ceres::Problem'
C:/Program Files (x86)/Ceres/include\ceres/problem.h(120): note: see declaration of 'ceres::Problem'
../../pose-graph\pgo.cpp(54): error C2065: 'quaternion_local_parameterization': undeclared identifier
error: command 'C:\\Program Files\\Microsoft Visual Studio\\2022\\Community\\VC\\Tools\\MSVC\\14.32.31326\\bin\\HostX86\\x64\\cl.exe' failed with exit code 2

[htkseason]

Thanks for reporting the issue. Ceres 2.0 should work.
I will try to update that part when there is a chance.