LocalParameterization -> Manifold

[Sameer Agarwal]

Folks,

The LocalParameterization interface has been deprecated and has been replaced by the Manifold interface. 

We are close to cutting a release candidate for 2.1. LocalParameterizations will be removed from Ceres Solver in the 2.2 timeframe.

Please start migrating your code to using Manifolds. If you use existing LocalParameterization objects that come with Ceres Solver then you should be able to just use the corresponding Manifold object. If you are defining your own LocalParameterization, then you will need to port them to the Manifold interface. 

manifold_test_utils.h will help you test your Manifold objects. See manifold_test.cc for extensive examples.

You should NOT see any change in the quality or runtime of your results. This is because of two reasons. 

1. The Manifold objects are compatible with existing LocalParameterizations.

2. We do not (as yet) use any of the new capabilities of the Manifold interface inside ceres. This will happen in 2.2

Please let us know here or on GitHub if you face any problems.

Sameer