From 5f26fbd59d42fa8666be56280a7513c05e823e13 Mon Sep 17 00:00:00 2001
From: Joe Schornak <joe@reframe.systems>
Date: Tue, 11 Jun 2024 12:52:26 +0000
Subject: [PATCH 1/3] replace LocalParameterization with Manifold

---
 .../include/rct_optimizations/local_parameterization.h    | 6 +++---
 rct_optimizations/test/local_parameterization_utest.cpp   | 8 ++++----
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/rct_optimizations/include/rct_optimizations/local_parameterization.h b/rct_optimizations/include/rct_optimizations/local_parameterization.h
index b907048a..8bcd15a7 100644
--- a/rct_optimizations/include/rct_optimizations/local_parameterization.h
+++ b/rct_optimizations/include/rct_optimizations/local_parameterization.h
@@ -2,7 +2,7 @@
 
 #include <Eigen/Core>
 #include <ceres/problem.h>
-#include <ceres/local_parameterization.h>
+#include <ceres/manifold.h>
 #include <rct_optimizations/types.h>
 
 // Ceres Solver - A fast non-linear least squares minimizer
@@ -126,8 +126,8 @@ void addSubsetParameterization(ceres::Problem& problem, const std::map<const dou
         }
         else
         {
-          ceres::LocalParameterization* lp = new ceres::SubsetParameterization(block_size, mask);
-          problem.SetParameterization(p, lp);
+          ceres::Manifold* lp = new ceres::SubsetManifold(block_size, mask);
+          problem.SetManifold(p, lp);
         }
       }
     }
diff --git a/rct_optimizations/test/local_parameterization_utest.cpp b/rct_optimizations/test/local_parameterization_utest.cpp
index 3e4b4df4..1ba00d36 100644
--- a/rct_optimizations/test/local_parameterization_utest.cpp
+++ b/rct_optimizations/test/local_parameterization_utest.cpp
@@ -40,7 +40,7 @@ TEST(LocalParameterizationTests, SubsetParameterization)
     EXPECT_NO_THROW(addSubsetParameterization(problem, mask));
 
     // Expect there to be no parameterization, but the entire block should be constant
-    EXPECT_EQ(problem.GetParameterization(params.data()), nullptr);
+    EXPECT_EQ(problem.GetManifold(params.data()), nullptr);
     EXPECT_TRUE(problem.IsParameterBlockConstant(params.data()));
   }
 
@@ -51,7 +51,7 @@ TEST(LocalParameterizationTests, SubsetParameterization)
     int bad_idx = params.size() * 2;
     mask[params.data()].insert(mask[params.data()].begin(), { bad_idx, 0, 1, 2 });
     EXPECT_THROW(addSubsetParameterization(problem, mask), OptimizationException);
-    EXPECT_EQ(problem.GetParameterization(params.data()), nullptr);
+    EXPECT_EQ(problem.GetManifold(params.data()), nullptr);
   }
 
   // Empty mask
@@ -59,7 +59,7 @@ TEST(LocalParameterizationTests, SubsetParameterization)
     std::map<const double*, std::vector<int>> mask;
     EXPECT_NO_THROW(addSubsetParameterization(problem, mask));
     // An empty mask should not have added any local parameterization
-    EXPECT_EQ(problem.GetParameterization(params.data()), nullptr);
+    EXPECT_EQ(problem.GetManifold(params.data()), nullptr);
   }
 
   // Hold the zero-th row constant
@@ -73,7 +73,7 @@ TEST(LocalParameterizationTests, SubsetParameterization)
       mask[params.data()].push_back(i * params.rows());
     }
     EXPECT_NO_THROW(addSubsetParameterization(problem, mask));
-    EXPECT_NE(problem.GetParameterization(params.data()), nullptr);
+    EXPECT_NE(problem.GetManifold(params.data()), nullptr);
   }
 
   // Solve the optimization

From 62ac8ba5685f1e7e6d9ee554be2b44f3e0e0dfd9 Mon Sep 17 00:00:00 2001
From: Joe Schornak <joe@reframe.systems>
Date: Tue, 11 Jun 2024 12:54:01 +0000
Subject: [PATCH 2/3] build with c++17

---
 rct_common/CMakeLists.txt        | 2 +-
 rct_optimizations/CMakeLists.txt | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/rct_common/CMakeLists.txt b/rct_common/CMakeLists.txt
index 4cfe7000..83eb5290 100644
--- a/rct_common/CMakeLists.txt
+++ b/rct_common/CMakeLists.txt
@@ -19,7 +19,7 @@ endif()
 find_gtest()
 
 add_library(${PROJECT_NAME} INTERFACE)
-target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_11)
+target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
 target_include_directories(${PROJECT_NAME} INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                      "$<INSTALL_INTERFACE:include>")
 target_link_libraries(${PROJECT_NAME} INTERFACE Eigen3::Eigen)
diff --git a/rct_optimizations/CMakeLists.txt b/rct_optimizations/CMakeLists.txt
index 238fb71b..157f8bf3 100644
--- a/rct_optimizations/CMakeLists.txt
+++ b/rct_optimizations/CMakeLists.txt
@@ -40,7 +40,7 @@ add_library(
   # DH Chain Kinematic Calibration
   src/${PROJECT_NAME}/dh_chain.cpp
   src/${PROJECT_NAME}/dh_chain_kinematic_calibration.cpp)
-target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_11)
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
 target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra)
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                   "$<INSTALL_INTERFACE:include>")

From 3d7a1cc0ce493da5d9d17357128c2f635ace8819 Mon Sep 17 00:00:00 2001
From: Joe Schornak <joe@reframe.systems>
Date: Wed, 12 Jun 2024 16:33:52 +0000
Subject: [PATCH 3/3] fix deprecation warning about ceres::IsNaN

---
 .../include/rct_optimizations/dh_chain_kinematic_calibration.h  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rct_optimizations/include/rct_optimizations/dh_chain_kinematic_calibration.h b/rct_optimizations/include/rct_optimizations/dh_chain_kinematic_calibration.h
index 59b1c667..36a36124 100644
--- a/rct_optimizations/include/rct_optimizations/dh_chain_kinematic_calibration.h
+++ b/rct_optimizations/include/rct_optimizations/dh_chain_kinematic_calibration.h
@@ -400,7 +400,7 @@ class DualDHChainCostPose6D : public DualDHChainCost
     T rot_diff = Eigen::Quaternion<T>(camera_to_target_measured_.cast<T>().linear())
                      .angularDistance(Eigen::Quaternion<T>(camera_to_target.linear()));
 
-    residual[3] = ceres::IsNaN(rot_diff) ? T(0.0) : T(orientation_weight_) * rot_diff;
+    residual[3] = ceres::isnan(rot_diff) ? T(0.0) : T(orientation_weight_) * rot_diff;
 
     return true;
   }