Ceres: Update to upstream version 2.0.0

We already were using one of earlier RC of the library, so there is no
expected big changes. Just making the update official, using official
version and stating it in the readme file.

1 files changed, 417 insertions, 408 deletions

diff --git a/extern/ceres/ChangeLog b/extern/ceres/ChangeLog
index 64c75e572f4..40fe3f16bac 100644
--- a/extern/ceres/ChangeLog
+++ b/extern/ceres/ChangeLog
@@ -1,587 +1,596 @@
-commit e39d9ed1d60dfeb58dd2a0df4622c683f87b28e3
-Author: Carl Dehlin <carl@dehlin.com>
-Date:   Tue Jun 16 09:02:05 2020 +0200
+commit 399cda773035d99eaf1f4a129a666b3c4df9d1b1
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Fri Oct 23 19:36:08 2020 +0100
 
-    Add a missing term and remove a superfluous word
+    Update build documentation to reflect detection of Eigen via config mode
     
-    Change-Id: I25f40f0bf241302b975e6fc14690aa863c0728b0
+    Change-Id: I18d5f0fc1eb51ea630164c911d935e9bffea35ce
 
-commit 27cab77b699a1a2b5354820c57a91c92eaeb21e3
-Author: Carl Dehlin <carl@dehlin.com>
-Date:   Mon Jun 15 20:01:18 2020 +0200
+commit bb127272f9b57672bca48424f2d83bc430a46eb8
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Oct 19 09:28:34 2020 -0700
 
-    Reformulate some sentences
+    Fix typos.
     
-    Change-Id: I4841aa8e8522008dd816261d9ad98e5fb8ad1758
+    Contributed by Ishamis@, IanBoyanZhang@, gkrobner@ & mithunjacob@.
+    
+    Change-Id: Iab3c19a07a6f3db2486e3557dcb55bfe5de2aee5
 
-commit 8ac6655ce85a4462f2882fcb9e9118a7057ebe09
-Author: Carl Dehlin <carl@dehlin.com>
-Date:   Mon Jun 15 19:10:12 2020 +0200
+commit a0ec5c32af5c5f5a52168dc2748be910dba14810
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Sun Oct 18 15:20:36 2020 -0700
 
-    Fix documentation formatting issues
+    Update version history for 2.0.0RC2
     
-    Change-Id: Iea3a6e75dc3a7376eda866ab24e535a6df84f8ea
+    Change-Id: I75b7515fbf9880bd8eaea6ecd5e72ce1ae4a3a86
 
-commit 7ef83e07592ead74eeacc227b642df1959d2a246
-Author: Alex Stewart <alexs.mac@gmail.com>
-Date:   Sat May 30 11:30:01 2020 +0100
+commit 3f6d2736769044e7c08c873c41a184849eea73ab
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Tue Jan 28 12:09:30 2020 -0500
 
-    Update minimum required C++ version for Ceres to C++14
+    Unify symbol visibility configuration for all compilers
     
-    - Removes all workarounds for pre-C++14 versions
-    - Removes '11' qualifier from C++ threading option and associated
-      defines.
-    - Fix missing inclusion of 'Multithreading' in reported Ceres components
-      when C++ threading model is enabled.
-    - Update Sphinx documentation to specify C++14 as minimum requirement.
+    This makes it possible to build unit tests with shared libraries on MSVC.
     
-    Change-Id: I706c8b367b3221e3c4d1a0aaf669a8f9c911e438
+    Change-Id: I1db66a80b2c78c4f3d354e35235244d17bac9809
 
-commit 1d75e7568172dc5a4dc97937dcf66e0f5d28272c
+commit 29c2912ee635c77f3ddf2e382a5d6a9cf9805a3d
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon May 25 18:09:50 2020 -0700
+Date:   Tue Oct 13 12:07:06 2020 -0700
 
-    Improve documentation for LocalParameterization
+    Unbreak the bazel build some more
     
-    Change-Id: I63fa81206e67bfac56cc42bf2bb4915a3a11332b
+    Change-Id: I6bbf3df977a473b9b5e16a9e59da5f535f8cdc24
 
-commit 763398ca4ed56952f48c48df6a98e277e3e05381
+commit bf47e1a36829f62697b930241d0a353932f34090
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon May 25 12:12:03 2020 -0700
+Date:   Tue Oct 13 10:00:22 2020 -0700
 
-    Update the section on Preconditioners
+    Fix the Bazel build.
+    
+    1. Fix the path to eigen, now that it uses gitlab instead of bitbucket.
+    2. Remove an unrecognized compiler option.
+    3. Remove an obsolete benchmark.
     
-    Re-organize the section, add some more references and details for
-    existing preconditioners and add documentation for the SUBSET
-    precondition.
+    This CL only unbreaks the build, it is likely that it is still not
+    at par with the cmake build.
     
-    https://github.com/ceres-solver/ceres-solver/issues/490
+    https://github.com/ceres-solver/ceres-solver/issues/628
     
-    Change-Id: I93d0af819c160f5e4ce48b18202f629ddb92ca7b
+    Change-Id: I470209cbb48b6a4f499564a86b52436e0c8d98ef
 
-commit a614f788a34ea86dd9f679b779ffbf920db45aa6
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri May 22 13:52:53 2020 -0700
+commit 600e8c529ebbb4bb89d5baefa3d5ab6ad923706a
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Mon Oct 12 23:00:39 2020 +0200
 
-    Call EvaluationCallback before evaluating the fixed cost.
+    fix minor typos
     
-    Fixe a subtle bug in Program::RemoveFixedBlocks, where we call
-    ResidualBlock::Evaluate on residual blocks with all constant parameter
-    blocks without paying attention to the presence of an
-    EvaluationCallback.
+    all timing values in the summary are initialized to -1, so the one
+    +1 is likely an oversight.
     
-    In the process also run clang-format on some of the files touched by
-    this change.
+    Change-Id: Ie355f3b7da08a56d49d19ca9a5bc48fe5581dee3
+
+commit bdcdcc78af61a0cb85317ebee52dc804bf4ea975
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Mon Sep 7 01:48:50 2020 +0200
+
+    update docs for changed cmake usage
     
-    https://github.com/ceres-solver/ceres-solver/issues/482
+    - update links to cmake docs to version 3.5
+    - highlight difference between dependencies with and without custom
+      find modules
+    - point out removal of CERES_INCLUDE_DIRS
+    - point out that TBB might be linked if SuiteSparseQR is found
+    - added 'Migration' section
+    - fixed typos
     
-    Change-Id: I342b66f6f975fdee2eef139a31f24d4a3e568e84
+    Change-Id: Icbcc0e723d11f12246fb3cf09b9d7c6206195a82
 
-commit 70308f7bb9cac560db250262079c0f8b030b9d6b
+commit 3f69e5b36a49b44344e96a26b39693a914ba80c6
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue May 26 06:12:13 2020 -0700
+Date:   Mon Oct 12 11:46:40 2020 -0700
 
-    Simplify documentation generation.
-    
-    1. The MathJax font configuration is moved into conf.py and removed
-    from make_docs.py along with better font sizing.
-    2. Remove the bread crumb replacement as it is not working anymore.
-    3. Fix a parsing error in nnls_modeling.rst which the new version of
-    sphinx barfed on.
+    Corrections from William Rucklidge
     
-    Change-Id: Ia3c2e732323a8b5cabafe851ac5ca0f0c82da071
+    Change-Id: I0b5d4808be48f68df7829c70ec93ffa67d81315d
 
-commit e886d7e65368e73e9d35c2ead895d81ced677977
+commit 8bfdb02fb18551bbd5f222c5472e45eddecd42b9
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon May 25 13:09:39 2020 -0700
+Date:   Mon Oct 12 10:07:13 2020 -0700
 
-    Reduce the number of minimizer iterations in evaluation_callback_test.cc
-    
-    This should reduce the probability of the test heuristic failing due
-    to floating point issues.
+    Rewrite uses of VLOG_IF and LOG_IF.
     
-    https://github.com/ceres-solver/ceres-solver/issues/562
-    https://github.com/ceres-solver/ceres-solver/issues/392
+    VLOG_IF's evaluation order is ambiguous - does it mean
+    `if (cond) VLOG(lvl)` or `if (VLOG_IS_ON(lvl) && cond) LOG(INFO)`?
+    In particular, the way it works now is inconsistent with the way the
+    rest of the LOG macros evaluate their arguments.
+    Fixing this would be hard, and the macro's behavior would still surprise
+    some people. Replacing it with an if statement is simple, clear, and unambiguous.
     
-    Change-Id: I8ccf4164a8d595f5930d378f464313d4a2cae419
+    Change-Id: I97a92d17a932c0a5344a1bf98d676308793ba877
 
-commit 9483e6f2f57bf51bad7cefd155cd5b48ca672c63
+commit d1b35ffc161fd857c7c433574ca82aa9b2db7f98
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue May 12 05:16:32 2020 -0700
+Date:   Mon Oct 12 10:58:05 2020 -0700
 
-    Simplify DynamicCompressedRowJacobianWriter::Write
+    Corrections from William Rucklidge
     
-    Change-Id: I67aa2959bd479909b5cada79359c5cfdb8a37ef7
+    Change-Id: Ifb50e87aa915d00f9861fe1a6da0acee11bc0a94
 
-commit 323cc55bb92a513924e566f487b54556052a716f
+commit f34e80e91f600014a3030915cf9ea28bcbc576e7
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon May 25 10:38:35 2020 -0700
+Date:   Thu Oct 8 12:34:53 2020 -0700
 
-    Update the version in package.xml to 2.0.0.
+    Add dividers between licenses.
     
-    Change-Id: Ibac053916520e8c597c875a8c7f5668bb35b6ba1
+    Change-Id: I4e4aaa15e0621c5648550cfa622fe0a79f1f4f9f
 
-commit 303b078b50bd3311a9c86fc256be3e9f2f334411
-Author: Bayes Nie <niebayes@gmail.com>
-Date:   Sun May 24 16:08:52 2020 +0800
+commit 65c397daeca77da53d16e73720b9a17edd6757ab
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Oct 7 14:34:52 2020 -0700
 
-    Fix few typos and alter a NULL to nullptr.
-    
-    Fix typos in docs/source/features.rst and examples/helloworld.cc. Alter a NULL to nullptr in include/ceres/autodiff_cost_function.h
+    Fix formatting
     
-    Change-Id: Ibcf00b6ef665ad6be9af14b3add2dd4f3852e7e6
+    Change-Id: Ib4ca8a097059dbb8d2f3a6a888222c0188cb126e
 
-commit cca93fed63dd4117f3d6dd5339131fc7674e6e0a
-Author: Alex Stewart <alexs.mac@gmail.com>
-Date:   Sun May 24 18:05:05 2020 +0100
+commit f63b1fea9cfa48ae4530c327b10efa4985e69631
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Oct 7 14:30:54 2020 -0700
 
-    Bypass Ceres' FindGlog.cmake in CeresConfig.cmake if possible
+    Add the MIT license text corresponding to the libmv derived files.
     
-    - If the version of glog detected and used to build Ceres was built with
-      CMake (i.e. Config mode) then we now use Config mode directly in
-      CeresConfig.cmake and do not install Ceres' FindGlog.cmake module.
-    - This has the benefit of removing any hard-coded paths from
-      CeresConfig.cmake provided that all dependencies were also built with
-      CMake.
-    
-    Change-Id: I85af8a953fd6d300e8bc0cdeb0b3636fec182f68
+    Change-Id: Ie72fb45ae96a7892c00411eee6873db7f0e365a8
 
-commit 77fc1d0fc4159ebb3a0a84a16651564eb2ce3c9d
-Author: Alex Stewart <alexs.mac@gmail.com>
-Date:   Sun May 24 19:07:26 2020 +0100
+commit 542613c13d8b7469822aff5eec076f2cad4507ec
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Tue Oct 6 22:48:59 2020 +0200
 
-    Use build_depend for private dependencies in Catkin package.xml
+    minor formatting fix for trust_region_minimizer.cc
     
-    Change-Id: If0c0569e7ebbf37c0d8e8daaf7765e20a6282531
+    Change-Id: I18ba27825fc23dd0e9e3e15dc13fc0833db01b5b
 
-commit a09682f00d8e50ada3c7ed16f8c48fa71a423f60
-Author: Alex Stewart <alexs.mac@gmail.com>
-Date:   Sun May 24 16:49:28 2020 +0100
+commit 6d9e9843d8c61cfb04cc55b9def9518f823a592a
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Sep 28 11:35:37 2020 -0700
 
-    Fix MSVC version check to support use of clang-cl front-end
+    Remove inclusion of ceres/eigen.h
     
-    - Raised as issue: #521
+    The initial reason for this is because of a previous reformatting CL
+    triggered a macro redefinition warning in the schur eliminator. But
+    actually it was worse because the reordering had caused the macro
+    definition to be ignored and caused a performance regression.
     
-    Change-Id: Iaea6b43484b90ec8789bda0447c8a90759974ec1
+    This simplifies the generated files, fixes some formatting errors
+    and recovers the performance.
+    
+    Change-Id: I9dbeffc38743b3f24b25843feec2e26a73188413
 
-commit b70687fcc86624c7d5520d25734938fa95d2af73
+commit eafeca5dcb7af8688d40a9c14b0d2fcb856c96fc
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Sep 28 11:12:59 2020 -0700
+
+    Fix a logging bug in TrustRegionMinimizer.
+    
+    Upon encountering an unsuccessful step (one where the cost goes up)
+    the the trust region minimizer failed to populate the gradient norm
+    in the IterationSummary. This would cause the gradient norm to be
+    logged as zero which is incorrect. Instead it should be the gradient
+    norm at the current point.
+    
+    This CL fixes this issue.
+    
+    Before:
+    iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+       0  1.115206e+07    0.00e+00    1.90e+07   0.00e+00   0.00e+00  1.00e+04        0    2.72e-01    1.33e+00
+       1  3.687552e+06    7.46e+06    1.84e+08   2.86e+03   6.91e-01  1.06e+04        1    1.32e+00    2.65e+00
+       2  3.670266e+10   -3.67e+10    0.00e+00   3.27e+03  -1.07e+04  5.30e+03        1    7.52e-01    3.40e+00
+       3  4.335397e+07   -3.97e+07    0.00e+00   2.74e+03  -1.16e+01  1.32e+03        1    7.28e-01    4.13e+00
+       4  1.345488e+06    2.34e+06    4.12e+07   1.55e+03   6.87e-01  1.40e+03        1    9.31e-01    5.06e+00
+       5  5.376653e+05    8.08e+05    9.99e+06   6.64e+02   7.46e-01  1.59e+03        1    9.64e-01    6.03e+00
+    
+    After:
+    iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
+       0  1.115206e+07    0.00e+00    1.90e+07   0.00e+00   0.00e+00  1.00e+04        0    2.37e-01    1.13e+00
+       1  3.687552e+06    7.46e+06    1.84e+08   2.86e+03   6.91e-01  1.06e+04        1    1.08e+00    2.21e+00
+       2  3.670266e+10   -3.67e+10    1.84e+08   3.27e+03  -1.07e+04  5.30e+03        1    7.50e-01    2.96e+00
+       3  4.335397e+07   -3.97e+07    1.84e+08   2.74e+03  -1.16e+01  1.32e+03        1    7.13e-01    3.67e+00
+       4  1.345488e+06    2.34e+06    4.12e+07   1.55e+03   6.87e-01  1.40e+03        1    9.01e-01    4.57e+00
+       5  5.376653e+05    8.08e+05    9.99e+06   6.64e+02   7.46e-01  1.59e+03        1    9.36e-01    5.51e+00
+    
+    Change-Id: Iae538fe089be07c7bb219337a6f1392f7213acfe
+
+commit 1fd0be916dd4ff4241bd52264b9e9170bc7e4339
 Author: Alex Stewart <alexs.mac@gmail.com>
-Date:   Sun May 24 20:28:12 2020 +0100
+Date:   Mon Sep 28 18:54:33 2020 +0100
 
-    Add namespace qualified Ceres::ceres CMake target
+    Fix default initialisation of IterationCallback::cost
     
-    - This reflects modern CMake style, and also provides a measure of
-      protection against missing find_package() imports in downstream
-      clients resulting in linker errors when 'ceres' matches the compiled
-      library and not the imported target.
-    - The original 'ceres' target remains, as a local imported interface
-      target created by CeresConfig for backwards compatibility.
+    Change-Id: I9f529093fc09424c90dbff8e9648b90b16990623
+
+commit 137bbe845577929a87f8eef979196df6a8b30ee4
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Mon Sep 28 02:17:32 2020 +0200
+
+    add info about clang-format to contributing docs
     
-    Change-Id: Ie9ed8de9b7059bc0cae1ae5002bb94d8fe617188
+    Change-Id: I2f4dcbda2e4f36096df217d76de370103ffaa43e
 
-commit 99efa54bdb4e14c3f4382a166baf6772113f74a8
-Author: Alex Stewart <alexs.mac@gmail.com>
-Date:   Sun May 24 19:18:38 2020 +0100
+commit d3f66d77f45482b90d01af47938289c32dd2cc08
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Mon Sep 28 02:01:43 2020 +0200
 
-    Replace type aliases deprecated/removed in C++17/C++20 from FixedArray
+    fix formatting generated files (best effort)
     
-    - Raised as issue #551
-    - Also adds C++20 to the set of ALLOWED_CXX_STANDARDS, although this
-      will require a version of CMake >= 3.12.
+    - update file generator scripts / templates so generated files adhere
+      to clang-format
+    - A few exceptions are not fixed, where the file generation results in
+      lines of different width. To properly fix this would make the code
+      more complicated and it's not that important for generated files
+      anyway.
+    - note that generated files are excluded in ./scripts/format_all.sh
     
-    Change-Id: I0f13c72e93a35391fd2d18590b4243a329a2322c
+    Change-Id: I4f42c83d1fec01242eada5e7ce6c1a5192234d37
 
-commit adb973e4a337c372aa81ca1a4f3bb704068c08b7
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu May 21 14:45:28 2020 -0700
+commit a9c7361c8dc1d37e78d216754a4c03e8a8f1e74f
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Mon Sep 28 02:14:29 2020 +0200
 
-    NULL -> nullptr
+    minor formatting fix (wrongly updated in earlier commit)
     
-    Change-Id: Iaeea2ef7912d328653a76b65976adc8025a5be35
+    Change-Id: I544635fd936cb5b7f7bd9255876641cd5a9590c6
 
-commit 27b717951b58c134b3a5a9f664a66c7480364d6c
-Author: Alastair Harrison <aharrison24@gmail.com>
-Date:   Fri May 15 10:10:12 2020 +0100
+commit 7b8f675bfdb1d924af6a2dcc1f79bda5ace7e886
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Sun Sep 20 21:45:24 2020 +0200
 
-    Respect FIND_QUIETLY flag in cmake config file
+    fix formatting for (non-generated) internal source files
     
-    Ensure that Ceres does not print any log messages when somebody has
-    used 'find_package(Ceres QUIET)' in their CMake project.
+    - Change formatting standard to Cpp11. Main difference is not having
+      the space between two closing >> for nested templates. We don't
+      choose c++14, because older versions of clang-format (version 9
+      and earlier) don't know this value yet, and it doesn't make a
+      difference in the formatting.
+    - Apply clang-format to all (non generated) internal source files.
+    - Manually fix some code sections (clang-format on/off) and c-strings
+    - Exclude some embedded external files with very different formatting
+      (gtest/gmock)
+    - Add script to format all source files
     
-    Change-Id: Id6b68859cc8a5857f3fa78f29736cb82fd5a0943
+    Change-Id: Ic6cea41575ad6e37c9e136dbce176b0d505dc44d
 
-commit 646959ef118a1f10bf93741d97cf64265d42f8c6
-Author: huangqinjin <huangqinjin@gmail.com>
-Date:   Sat Apr 25 02:03:11 2020 +0800
+commit 921368ce31c42ee793cf131860abba291a7e39ad
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Sep 9 09:15:37 2020 -0700
 
-    Do not export class template LineParameterization
+    Fix a number of typos in covariance.h
     
-    For MSVC, instantiating a dllimport class template will cause error C2491:
-    definition of dllimport function not allowed.
+    Also some minor cleanups in covariance_impl.h
     
-    Change-Id: Icc7f7ea84598df0a5436f48ffc2bab5cfab93921
-
-commit 1f128d070a24224d12eb901bc74ba393ccdbd0c3
-Author: huangqinjin <huangqinjin@gmail.com>
-Date:   Mon Mar 4 13:14:43 2019 +0800
-
-    Change the type of parameter index/offset to match their getter/setter
+    Thanks to Lorenzo Lamia for pointing these out.
     
-    Change-Id: If28b795e792f39db9775ada105e9038570195329
+    Change-Id: Icb4012a367fdd1f249bc1e7019e0114c868e45b6
 
-commit 072c8f070e16cb32f211473c40196c6b5618d5a9
-Author: huangqinjin <huangqinjin@gmail.com>
-Date:   Sat Apr 25 00:04:58 2020 +0800
+commit 7b6b2491cc1be0b3abb67338366d8d69bef3a402
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Tue Sep 8 17:51:32 2020 +0200
 
-    Initialize integer variables with integer instead of double
+    fix formatting for examples
+    
+    This is mostly just applying the existing clang format config, except:
+    - Use NOLINT on overlong comment lines.
+    - Wrap some sections in 'clang-format off' / 'clang format on'.
+    - Manually split or join some multi-line strings.
     
-    Change-Id: I652aca4ceb3129706a5d5e38afe9f16b61200a5b
+    Change-Id: Ia1a40eeb92112e12c3a169309afe087af55b2f4f
 
-commit 8c36bcc81fbd4f78a2faa2c914ef40af264f4c31
-Author: Alex Stewart <alexs.mac@gmail.com>
-Date:   Mon Apr 27 18:33:25 2020 +0100
+commit 82275d8a4eac4fc0bd07e17c3a41a6e429e72bfb
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Tue Sep 8 02:00:21 2020 +0200
 
-    Use inline & -inlinehint-threshold in auto-diff benchmarks
+    some fixes for Linux and macOS install docs
     
-    - This results in the same performance as the original solution of
-      increasing -inline-threshold, but this approach is more viable to
-      incorporate in a large code base as its effects are more targeted.
+    Linux:
+    - Remove workaround for Ubuntu 14.04, which is EOL. libsuitesparse-dev
+      seems to come with a shared library on 16.04 and later, so linking
+      to a shared build of ceres doesn't seem to be an issue any more.
+    - Add missing libgflags-dev.
     
-    Change-Id: Id798dbca7d3050de0ea847a5ecc69484ac78a2cf
-
-commit 57cf20aa5d3c1b2f25d255814f4fff5260db81c6
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Apr 21 10:10:01 2020 -0700
-
-    static const -> static constexpr where we can.
+    macOS:
+    - OS X is now called macOS.
+    - Update homebrew link.
+    - Mac homebrew the preferred method of installation.
+    - Fix OpenMP instructions.
+    - Remove reference to homebrew/science. Everything is in core.
+    - Add missing gflags.
     
-    Change-Id: I8a6d26a89c4377dd440fa6dcf23513b7556533fc
+    Change-Id: I633b3c7ea84a87886bfd823f8187fdd0a84737c9
 
-commit 40b27482a202c8b0a5f9e8f2b4be0192d34195f5
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Apr 21 09:35:30 2020 -0700
+commit 9d762d74f06b946bbd2f098de7216032d0e7b51d
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Sun Sep 6 21:04:24 2020 +0200
 
-    Add std::numeric_limit specialization for Jets
+    fix formatting for public header files
     
-    This allows users to use std::numeric_limits on templated functors.
+    - ensure all public headers files adhere to clang-format
+    - preserve one-per-line for enums by adding trailing comma
+    - preserve include order for en/disable_warning.h
     
-    Change-Id: I403cec5c9826033ce7dfd6047deb64f66c35f806
+    Change-Id: I78dbd0527a294ab2ec5f074fb426e48b20c393e6
 
-commit e751d6e4f0daa9f691c5ed25ca8dc564875d8bef
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Wed Apr 8 10:43:53 2020 +0200
+commit c76478c4898f3af11a6a826ac89c261205f4dd96
+Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
+Date:   Sun Sep 6 23:29:56 2020 +0200
 
-    Remove AutodiffCodegen
-    
-    - Remove Codegen files
-    - Revert Jet and Rotation
+    gitignore *.pyc
     
-    Change-Id: I005c5f98f2b6dfa5c7fd88d998b6aa83e47dab60
+    Change-Id: Ic6238a617a3c7ce92df7dcefcc44bae20c32b30b
 
-commit e9eb76f8ef9835940659cfb3a312ed6822c48152
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Mon Apr 6 11:11:43 2020 +0200
+commit 4e69a475cd7d7cbed983f5aebf79ae13a46e5415
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Tue Sep 1 10:15:23 2020 +0100
 
-    Remove AutodiffCodegen CMake integration
+    Fix potential for mismatched release/debug TBB libraries
     
-    Change-Id: I403597540df8429378336626b8f748b7821fe6f5
+    - Protect against the case when the user has multiple installs of TBB
+      in their search paths and the first install does not contain debug
+      libraries.  In this case it is possible to get mismatched versions
+      of TBB inserted into TBB_LIBRARIES.
+    - Also suppresses warning about use of TBB_ROOT on modern versions of
+      CMake due to CMP0074.
+    
+    Change-Id: I2eaafdde4a028cbf6c500c63771973d85bc4723d
 
-commit 9435e08a7a7c903897e18e1dc24d801caf4f62a4
+commit 8e1d8e32ad0d28c0d4d1d7b2b1ce7fc01d90b7b0
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Apr 3 11:50:09 2020 -0700
+Date:   Thu Sep 3 10:49:20 2020 -0700
 
-    More clang-tidy and wjr@ comment fixes
+    A number of small changes.
+    
+    1. Add a move constructor to NumericDiffCostFunction, DynamicAutoDiffCostfunction
+       and DynamicNumericDiffCostFunction.
+    2. Add optional ownership of the underlying functor.
+    3. Update docs to reflect this as well as the variadic templates that allow an
+       arbitrary number of parameter blocks.
     
-    Change-Id: I5736ae482f736fc56c00d21c659b1f8d41da68e9
+    Change-Id: I57bbb51fb9e75f36ec2a661b603beda270f30a19
 
-commit d93fac4b7ab670a936ce821284a0b9d099b4688c
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Fri Apr 3 09:33:17 2020 +0200
+commit 368a738e5281039f19587545806b7bc6f35e78f9
+Author: Julian Kent <jkflying@gmail.com>
+Date:   Thu May 7 12:54:35 2020 +0200
 
-    Remove AutodiffCodegen Tests
+    AutoDiffCostFunction: optional ownership
+    
+    Add Ownership semantics to the AutoDiffCostFunction
+    
+    This allows several benefits, such as pointer ordering always being the
+    same for numerical repeatability (due to blocks being ordered by
+    pointer address), memory adjacency for better cache performance, and
+    reduced allocator pressure / overhead.
     
-    Change-Id: Icd194db7b22add518844f1b507d0fdd3e0fe17fe
+    This is then made use of in libmv by preallocating the errors and
+    cost functions into vectors
+    
+    Change-Id: Ia5b97e7249b55a463264b6e26f7a02291927c9f2
 
-commit 2281c6ed24d2c12f133fa6039f224b3da18cebe3
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Apr 2 16:43:42 2020 -0700
+commit 8cbd721c199c69f127af6ef7c187ddf7e8f116f9
+Author: Morten Hannemose <morten@hannemose.dk>
+Date:   Thu Sep 3 17:54:20 2020 +0200
 
-    Fixes for comments from William Rucklidge
+    Add erf and erfc to jet.h, including tests in jet_test.cc
+    
+    erf is necessary for evaluating Gaussian functions.
+    erfc was added because it is so similar to erf.
     
-    Change-Id: I64fcc25532cc66dc4cb7e2ea7ccfb220b0cb7e1f
+    Change-Id: I5e470dbe013cc938fabb87cde3b0ebf26a90fff4
 
-commit d797a87a4091af6ae0063e3c8291429c15318bdc
+commit 31366cff299cf2a8d97b43a7533d953ff28fdc29
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Apr 2 13:57:56 2020 -0700
+Date:   Tue Sep 1 09:23:34 2020 -0700
 
-    Use Ridders' method in GradientChecker.
+    Benchmarks for dynamic autodiff.
     
-    Using Ridders' method gives orders of magnitude more accuracy compared
-    to central differences. This will make things slower, but this is
-    primarily a testing/debugging feature and the speed hit is not a
-    concern. This should also reduce the false positive rates when users
-    enable check_gradients. This is reflected the increased sensitivity of
-    the tests for GradientChecker.
+    This patch is from Clement Courbet. courbet@google.com
     
-    https://github.com/ceres-solver/ceres-solver/issues/554
-    
-    Change-Id: I6b871c72df55be1c31175ba062cf3c1e94e4b662
+    Change-Id: I886390663644733bfa5b7b52b0c883079e793726
 
-commit 41675682dc9df836bf15845064cfe1087619c79d
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Apr 2 07:28:38 2020 -0700
+commit 29fb08aeae1ce691851724af7209fea6127523a9
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Tue Sep 1 10:23:31 2020 +0100
 
-    Fix a MSVC type deduction bug in ComputeHouseholderVector
+    Use CMAKE_PREFIX_PATH to pass Homebrew install location
     
-    A recent change made this function templated and MSVC 16 has trouble
-    doing automatic argument deduction, so the type of the template is
-    simplified and all callsites are explicitly annotated with the type
-    of the arguments.
+    - Passing HINTS disables the MODULE mode of find_package() which
+      precludes users from creating their own find modules to provide
+      Ceres' dependencies.
     
-    Change-Id: I83cd0269e6e82c4a8f4e391f5fc03b92c942f74d
+    Change-Id: I6f2edf429331d13fe67bf61ac4b79d17579d9a57
 
-commit 947ec0c1fa0f67c89e21daaf8d1648822ae5293a
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Thu Apr 2 09:52:53 2020 +0200
+commit 242c703b501ffd64d645f4016d63c8b41c381038
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Aug 4 21:02:11 2020 -0700
 
-    Remove AutodiffCodegen autodiff benchmarks
+    Minor fixes to the documentation
     
-    Change-Id: If1eaad31710cc91d40323ea6cae7cabe6fa64b1f
+    Change-Id: I65e6f648d963b8aa640078684ce02dcde6acb87d
 
-commit 27183d661ecae246dbce6d03cacf84f39fba1f1e
+commit 79bbf95103672fa4b5485e055ff7692ee4a1f9da
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Jul 11 16:30:59 2019 +0200
+Date:   Tue Aug 4 18:26:02 2020 -0700
 
-    Allow LocalParameterizations to have zero local size.
+    Add changelog for 2.0.0
     
-    Local parameterizations with zero tangent/local size will cause the
-    corresponding parameter block to be treated as constant.
-    
-    https://github.com/ceres-solver/ceres-solver/issues/347
-    
-    Change-Id: I554a2acc420f5dd9d0cc7f97b691877eb057b2c0
+    Change-Id: I8acad62bfe629454ae5032732693e43fe37b97ff
 
-commit 7ac7d79dca2ac6b482da50fd9ad0227ba8d6c632
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Wed Apr 1 14:51:12 2020 +0200
+commit 41d05f13d0ffb230d7a5a9d67ed31b0cfb35d669
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Aug 4 14:56:33 2020 -0700
 
-    Remove HelloWorldCodegen example
+    Fix lint errors in evaluation_callback_test.cc
     
-    Change-Id: I2584f41d591a5d648b4832385c2a779bb25fc04d
+    Change-Id: I63eb069544ad0d8f495490fe4caa07b9f04f7ec2
 
-commit 8c8738bf832f0fc27f0d4a9585fc59b2eaa6a828
-Author: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
-Date:   Sun Mar 29 13:29:02 2020 +0200
+commit 4b67903c1f96037048c83a723028c5d0991c09cf
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Aug 4 14:40:50 2020 -0700
 
-    Add photometric and relative-pose residuals to autodiff benchmarks
+    Remove unused variables from problem_test.cc
     
-    Change-Id: Id100ff2656ab63bb4fd19a51b95e78281cfd8b4a
+    Change-Id: Ia1a13cfc6e462f6d249dcbf169ad34831dd93ec2
 
-commit 9f7fb66d62014ed62ba6aa617364e8591211c797
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Wed Mar 25 11:41:39 2020 +0100
+commit 10449fc3664c96d4b5454c092195432df79412f8
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Aug 4 14:30:25 2020 -0700
 
-    Add a constant cost function to the autodiff benchmarks
-    
-    The constant cost function is run with a variable number of
-    parameters to test at which point, different compilers fail
-    to optimize the autodiff code.
+    Add Apache license to the LICENSE file for FixedArray
     
-    Clang achieves expected performance which fails at >50 parameters.
-    G++ fails already at 20 parameters
+    FixedArray implementation comes from ABSL which is Apache
+    licensed.
     
-    Change-Id: I75d8c683ef0011d813ec6d966d7ad58f86530f44
+    Change-Id: I566dbe9d236814c95945732c6347d3bf7b508283
 
-commit ab0d373e465f46ce483db640d0fb2f244f48702d
+commit 8c3ecec6db26d7a66f5de8dc654475ec7aa0df14
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Mar 24 12:30:46 2020 -0700
+Date:   Tue May 26 04:44:11 2020 -0700
 
-    Fix a comment in autodiff.h
+    Fix some minor errors in IterationCallback docs
     
-    Change-Id: I613e537c834e3f29cd92808c65ddb74f112974cc
+    Change-Id: Id3d7f21a523ff8466868cdec542921c566bbbfa9
 
-commit 27bb997144d00dd4494d440627f1e782bf4adf43
-Author: Johannes Beck <Jodebo_Beck@gmx.de>
-Date:   Tue Mar 24 08:05:43 2020 +0100
+commit 7d3ffcb4234632dc51ee84c8a509d9428263070b
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Sun Jul 26 19:42:16 2020 +0100
 
-    Change SVD algorithm in covariance computation.
+    Remove forced CONFIG from find_package(Eigen3)
     
-    Switch from JacobiSVD to BDCSVD in
-    ComputeCovarianceValuesUsingDenseSVD. This should increase
-    the performance for larger covariance matrices. See
-    https://eigen.tuxfamily.org/dox/classEigen_1_1BDCSVD.html
+    - Ceres will fail to configure if Eigen3::Eigen target is not found, and
+      the minimum required Eigen version specified (3.3) exports Eigen as
+      a CMake package and this is reflected in the default Ubuntu 18.04
+      packages.
+    - This permits users to specify their own Eigen3 detection should they
+      choose to do so, but they must do so via an imported target.
     
-    Change-Id: Icde4dec89f506b638b0f9f1aee3b7cfc9e4d72fc
+    Change-Id: I5edff117c8001770004f49012ac1ae63b66ec9c1
 
-commit 84fdac38e033c8f9a63c6e6fca7b44219110f7df
-Author: Johannes Beck <Jodebo_Beck@gmx.de>
-Date:   Tue Mar 24 08:02:21 2020 +0100
+commit a029fc0f93817f20b387b707bc578dc1f1a269ae
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Sun Jul 26 18:44:59 2020 +0100
 
-    Add const to GetCovarianceMatrix*
+    Use latest FindTBB.cmake from VTK project
     
-    This CL adds const to the functions GetCovarianceMatrix and
-    GetCovarianceMatrixInTangentSpace.
+    - Retrieved from [1], SHA: 0d9bbf9beb97f8f696c43a9edf1e52c082b3639b on
+      2020-07-26
+    - [1]: https://gitlab.kitware.com/vtk/vtk/blob/master/CMake/FindTBB.cmake
     
-    Change-Id: Ibe2cafebede47977a9aabcac8d245f30af184fd1
+    Change-Id: I953a8c87802a974d30ccc7c80f5229683826efbd
 
-commit 6bde61d6be9d81a2cd759a6bbb4a8cd3c24a529c
-Author: Johannes Beck <Jodebo_Beck@gmx.de>
-Date:   Sat Dec 28 13:29:19 2019 +0100
+commit aa1abbc578797c6b17ee7221db31535dc249ae66
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Sun Jul 26 19:57:31 2020 +0100
 
-    Add line local parameterization.
+    Replace use of GFLAGS_LIBRARIES with export gflags target
     
-    This CL adds a local parameterization for a n-dimensional
-    line, which is represented as an origin point and a direction.
-    The line direction is updated in the same way as a
-    homogeneous vector and the origin point is updated
-    perpendicular to the line direction.
+    - As our minimum required version of gflags (2.2) exports itself as
+      a CMake package and this is the case for the default 18.04 package
+      we can use the gflags target directly.
+    - Replaces forced use of CONFIG in find_package(gflags) with a check
+      that the gflags imported target exists to avoid ambiguity with
+      libgflags if installed in a default location.  This permits users to
+      override the gflags detection should they so choose, provided that
+      they do so via an imported target.
+    - Also removes some previously removed legacy GLAGS_ vars from the
+      installation docs.
     
-    Change-Id: I733f395e5cc4250abf9778c26fe0a5ae1de6b624
+    Change-Id: I015f5a751e5b22f956bbf9df692e63a6825c9f0d
 
-commit 2c1c0932e9d3f91691e5c5fce46b4440e181a8bc
+commit db2af1be8780bbe88944775400baa2dbd3592b7d
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Mar 23 11:15:32 2020 -0700
+Date:   Mon Aug 3 04:57:08 2020 -0700
 
-    Update documentation in autodiff.h
+    Add Problem::EvaluateResidualBlockAssumingParametersUnchanged
     
-    Change-Id: Icc2753b4f5be95022ffd92e479cdd3d9d7959d4c
-
-commit 8904fa4887ed7b3e6d110ad5a98efbc2df48595e
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Mon Mar 23 14:59:26 2020 +0100
-
-    Inline Jet initialization in Autodiff
+    Simplify the semantics for Problem::EvaluateResidualBlock to
+    not ignore the presence of EvaluationCallback and add another method
+    EvaluateResidualBlockAssumingParametersUnchanged to handle the case
+    where the user has an EvaluationCallback but knows that the parameter
+    blocks do not change between calls.
     
-    Inlining the Jet initialzation is mandatory for good performance
-    in autodiff, because all the constants in the dual part can be
-    propagated into the cost functor.
+    Updated the documentation for the methods and EvaluationCallback to
+    reflect these semantics.
     
-    This patch unrolls the initialization loop with templates and adds
-    EIGEN_ALWAYS_INLINE to the constructors.
+    Also added tests for Evaluation related methods calling i
+    EvaluationCallback when its present.
     
-    Change-Id: Ic89d645984f3e1df6c63948236da823ba60d9620
+    https://github.com/ceres-solver/ceres-solver/issues/483
+    
+    Change-Id: If0a0c95c2f1f92e9183a90df240104a69a71c46d
 
-commit 18a464d4e566e17930005876af19e32cc8796fa3
+commit ab4ed32cda004befd29a0b4b02f1d907e0c4dab7
 Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Mar 23 07:12:12 2020 -0700
+Date:   Mon Aug 3 04:17:33 2020 -0700
 
-    Remove an errant CR from local_parameterization.cc
+    Replace NULL with nullptr in the documentation.
     
-    Change-Id: Iff98a96f06de5755062a1c79523604dca78b298e
+    Change-Id: I995f68770e2a4b6027c0a1d3edf5eb5132b081d7
 
-commit 5c85f21799804d39cbfd20ec451aa219511e4212
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Mon Mar 23 10:12:00 2020 +0100
+commit ee280e27a6140295ef6258d24c92305628f3d508
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Fri Jul 31 16:48:06 2020 -0700
 
-    Use ArraySelector in Autodiff
+    Allow SubsetParameterization to accept an empty vector of constant parameters.
     
-    The class ArraySelector is now used in autodiff to store the
-    parameters and residuals. This reduces overhead of FixedArray
-    for fixed-sized residuals and allows more optimizations due
-    to inlining and unrolling.
+    Thanks to Frédéric Devernay for reporting this and providing an initial fix.
     
-    Change-Id: Ibadc5644e64d672f7a555e250fb1f8da262f9d4f
+    Change-Id: Id86a2051ab7841ecafdcfb00f4634b353a7ef3b4
 
-commit 80477ff073ab7af03cfb248cab4ef41a87f913d0
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Fri Mar 20 16:26:55 2020 +0100
+commit 4b8c731d8a4f3fda53c642ff14a25fab6c233918
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Fri Jul 31 10:05:52 2020 -0700
 
-    Add class ArraySelector
+    Fix a bug in DynamicAutoDiffCostFunction
+    
+    DynamicAutoDiffCostFunction::Evaluate when provided with a jacobians
+    array that was non-empty but all its entries are nullptr, would
+    compute num_active_parameters = 0, and then skip over all the loops
+    that evaluated the CostFunctor.
+    
+    The fix is to check if num_active_parameters == 0, and then treat
+    it as the case where jacobians array is null.
     
-    The ArraySelector selects the best array implementation based on
-    template arguments.
+    Thanks to Ky Waegel for reporting and providing a reproduction for this.
     
-    Change-Id: I93c6db1a638e924b85292e63bca9525610ec2e2f
+    Change-Id: Ib86930c2c3f722724d249f662bf88238679bbf98
 
-commit e7a30359ee754057f9bd7b349c98c291138d91f4
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Fri Mar 20 15:50:37 2020 +0100
+commit 5cb5b35a930c1702278083c75769dbb4e5801045
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Sun Jul 26 20:42:12 2020 +0100
 
-    Pass kNumResiduals to Autodiff
+    Fixed incorrect argument name in RotationMatrixToQuaternion()
     
-    The compile-time constant kNumResiduals is now passed to the
-    autodiff functions as a template parameter. This will be used
-    by future patches to optimize autodiff performance.
+    - Raised as: https://github.com/ceres-solver/ceres-solver/pull/607 by
+      Frank Dellaert
     
-    Change-Id: Ia2b2cc99b88752e8f12f4ce2542b1963bda552f5
+    Change-Id: Id3e9f190e814cf18206e2f8c3b1b67b995c21dd5
 
-commit f339d71dd64e4d871cc883f278a153f212f0d1f0
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Mar 19 12:08:28 2020 -0700
-
-    Refactor the automatic differentiation benchmarks.
-    
-    1. Merge them into a single binary.
-    2. All benchmarks now do the Residual and the Residual + Jacobian
-    evaluation.
-    3. Re-organize and simplify the CMake file in this directory.
-    4. Fix a bug in the file where the Clang compiler was not being matched.
-    
-    autodiff_benchmarks
-    ---------------------------------------------------------------------------
-    Benchmark                                 Time             CPU   Iterations
-    ---------------------------------------------------------------------------
-    BM_Linear1CodeGen/0                    3.02 ns         3.01 ns    233870456
-    BM_Linear1CodeGen/1                    3.02 ns         3.01 ns    233059100
-    BM_Linear1AutoDiff/0                   3.78 ns         3.77 ns    185791712
-    BM_Linear1AutoDiff/1                   14.0 ns         13.8 ns     53927875
-    BM_Linear10CodeGen/0                   5.10 ns         5.10 ns    126745007
-    BM_Linear10CodeGen/1                   29.1 ns         29.1 ns     23949310
-    BM_Linear10AutoDiff/0                  6.50 ns         6.49 ns    107516972
-    BM_Linear10AutoDiff/1                   169 ns          169 ns      4153218
-    BM_Rat43AutoDiff/0                     52.7 ns         51.2 ns     16444586
-    BM_Rat43AutoDiff/1                     91.8 ns         91.5 ns      7302316
-    BM_SnavelyReprojectionCodeGen/0        38.0 ns         36.2 ns     21131501
-    BM_SnavelyReprojectionCodeGen/1         113 ns          112 ns      5627779
-    BM_SnavelyReprojectionAutoDiff/0       34.4 ns         34.3 ns     20476937
-    BM_SnavelyReprojectionAutoDiff/1        242 ns          240 ns      2930611
-    BM_BrdfCodeGen/0                       53.9 ns         53.7 ns     11950083
-    BM_BrdfCodeGen/1                        507 ns          505 ns      1396732
-    BM_BrdfAutoDiff/0                      58.3 ns         57.8 ns     12220670
-    BM_BrdfAutoDiff/1                      2034 ns         1999 ns       257003
-    
-    autodiff_benchmarks_fast_math
-    ---------------------------------------------------------------------------
-    Benchmark                                 Time             CPU   Iterations
-    ---------------------------------------------------------------------------
-    BM_Linear1CodeGen/0                    3.19 ns         3.16 ns    215313065
-    BM_Linear1CodeGen/1                    2.78 ns         2.76 ns    201497994
-    BM_Linear1AutoDiff/0                   3.27 ns         3.26 ns    206154598
-    BM_Linear1AutoDiff/1                   13.2 ns         13.1 ns     57257840
-    BM_Linear10CodeGen/0                   5.70 ns         5.51 ns    121849325
-    BM_Linear10CodeGen/1                   33.9 ns         33.3 ns     21829295
-    BM_Linear10AutoDiff/0                  6.85 ns         6.78 ns    106813153
-    BM_Linear10AutoDiff/1                   173 ns          171 ns      3849877
-    BM_Rat43AutoDiff/0                     44.8 ns         44.2 ns     15577017
-    BM_Rat43AutoDiff/1                     96.2 ns         94.6 ns      7374864
-    BM_SnavelyReprojectionCodeGen/0        33.9 ns         33.5 ns     20508373
-    BM_SnavelyReprojectionCodeGen/1        89.7 ns         88.4 ns      7620624
-    BM_SnavelyReprojectionAutoDiff/0       36.5 ns         35.8 ns     20546176
-    BM_SnavelyReprojectionAutoDiff/1        257 ns          252 ns      3044325
-    BM_BrdfCodeGen/0                       61.1 ns         58.5 ns     11334013
-    BM_BrdfCodeGen/1                        265 ns          265 ns      2625459
-    BM_BrdfAutoDiff/0                      52.5 ns         52.5 ns     12938763
-    BM_BrdfAutoDiff/1                      1560 ns         1560 ns       440909
-    
-    Change-Id: I2d1a4293d3245a50f73af6cf5e5138084321ae6f
-
-commit d37b4cb150c4af65268f9ce5739d1c67e73cb358
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Mar 19 07:36:58 2020 -0700
+commit e39d9ed1d60dfeb58dd2a0df4622c683f87b28e3
+Author: Carl Dehlin <carl@dehlin.com>
+Date:   Tue Jun 16 09:02:05 2020 +0200
 
-    Fix some include headers in codegen/test_utils.cc/h
+    Add a missing term and remove a superfluous word
     
-    Change-Id: I769029ce2797eba0de6c7baeb76dc3f2782b6305
+    Change-Id: I25f40f0bf241302b975e6fc14690aa863c0728b0
 
-commit 550766e6da49dca895a6e2056b0872c557157c5b
-Author: Darius Rueckert <darius.rueckert@fau.de>
-Date:   Wed Mar 18 20:09:20 2020 +0100
+commit 27cab77b699a1a2b5354820c57a91c92eaeb21e3
+Author: Carl Dehlin <carl@dehlin.com>
+Date:   Mon Jun 15 20:01:18 2020 +0200
 
-    Add Autodiff Brdf Benchmark
+    Reformulate some sentences
     
-    The disney brdf is a good benchmark cost functor, because it has
-     - 28 parameters in 7 blocks
-     - 3 residuals
-     - Lots of low-level arithmetic
+    Change-Id: I4841aa8e8522008dd816261d9ad98e5fb8ad1758
+
+commit 8ac6655ce85a4462f2882fcb9e9118a7057ebe09
+Author: Carl Dehlin <carl@dehlin.com>
+Date:   Mon Jun 15 19:10:12 2020 +0200
+
+    Fix documentation formatting issues
     
-    Change-Id: I62c8a717d0aecb64639158f971bdccf6afdfae36
+    Change-Id: Iea3a6e75dc3a7376eda866ab24e535a6df84f8ea