Merge remote-tracking branch 'upstream/3.4' into merge-3.4

Author: alalek

modules/sfm/src/libmv_light/libmv/simple_pipeline/bundle.cc

@@ -549,7 +549,7 @@ void EuclideanBundleCommonIntrinsics(
 
       if (bundle_constraints & BUNDLE_NO_TRANSLATION) {
 #if CERES_VERSION_MAJOR >= 3 || (CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 1)
-        problem.SetParameterization(current_camera_R_t,
+        problem.SetManifold(current_camera_R_t,
                                     constant_translation_manifold);
 #else
         problem.SetParameterization(current_camera_R_t,