From 3ab9a69fbb31033b618f01bd2897401ce4957044 Mon Sep 17 00:00:00 2001
From: Borong Yuan <yuanborong@hotmail.com>
Date: Mon, 20 Jan 2025 05:58:07 +0800
Subject: [PATCH] fix build with ceres<2.1 (#1437)

---
 .../src/optimizer/ceres/pose_graph_2d/angle_manifold.h   | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/corelib/src/optimizer/ceres/pose_graph_2d/angle_manifold.h b/corelib/src/optimizer/ceres/pose_graph_2d/angle_manifold.h
index b96907be7e..2f55103817 100644
--- a/corelib/src/optimizer/ceres/pose_graph_2d/angle_manifold.h
+++ b/corelib/src/optimizer/ceres/pose_graph_2d/angle_manifold.h
@@ -31,8 +31,13 @@
 #ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_MANIFOLD_H_
 #define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_MANIFOLD_H_
 
-#include "ceres/autodiff_manifold.h"
-#include "ceres/manifold.h"
+#if CERES_VERSION_MAJOR >= 3 || \
+    (CERES_VERSION_MAJOR == 2 && CERES_VERSION_MINOR >= 1)
+#include <ceres/autodiff_manifold.h>
+#include <ceres/manifold.h>
+#else
+#include <ceres/local_parameterization.h>
+#endif
 #include "normalize_angle.h"
 
 namespace ceres {