Update Ceres to latest upstream version 2.1.0temp-ceres_update

This release deprecated the Parameterization API and the new Manifolds
API is to be used instead. This is what was done in the Libmv as part
of this change.

Additionally, remove the bundling scripts. Nowadays those are only
leading to a duplicated work to maintain.

1 files changed, 56 insertions, 17 deletions

diff --git a/extern/ceres/include/ceres/gradient_checker.h b/extern/ceres/include/ceres/gradient_checker.h
index b79cf86b314..178fa2b0dd2 100644
--- a/extern/ceres/include/ceres/gradient_checker.h
+++ b/extern/ceres/include/ceres/gradient_checker.h
@@ -40,9 +40,12 @@
 
 #include "ceres/cost_function.h"
 #include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/internal/disable_warnings.h"
 #include "ceres/internal/eigen.h"
+#include "ceres/internal/export.h"
 #include "ceres/internal/fixed_array.h"
 #include "ceres/local_parameterization.h"
+#include "ceres/manifold.h"
 #include "glog/logging.h"
 
 namespace ceres {
@@ -65,19 +68,42 @@ namespace ceres {
 // CostFunction, and then call Probe(). Check that the return value is 'true'.
 class CERES_EXPORT GradientChecker {
  public:
-  // This will not take ownership of the cost function or local
+  // This constructor will not take ownership of the cost function or local
   // parameterizations.
   //
   // function: The cost function to probe.
-  // local_parameterizations: A vector of local parameterizations for each
-  // parameter. May be NULL or contain NULL pointers to indicate that the
+  //
+  // local_parameterizations: A vector of local parameterizations, one for each
+  // parameter block. May be nullptr or contain nullptrs to indicate that the
   // respective parameter does not have a local parameterization.
+  //
   // options: Options to use for numerical differentiation.
+  //
+  // NOTE: This constructor is deprecated and will be removed in the next public
+  // release of Ceres Solver. Please transition to using the Manifold based
+  // version.
+  CERES_DEPRECATED_WITH_MSG(
+      "Local Parameterizations are deprecated. Use the constructor that uses "
+      "Manifolds instead.")
   GradientChecker(
       const CostFunction* function,
       const std::vector<const LocalParameterization*>* local_parameterizations,
       const NumericDiffOptions& options);
 
+  // This will not take ownership of the cost function or manifolds.
+  //
+  // function: The cost function to probe.
+  //
+  // manifolds: A vector of manifolds for each parameter. May be nullptr or
+  // contain nullptrs to indicate that the respective parameter blocks are
+  // Euclidean.
+  //
+  // options: Options to use for numerical differentiation.
+  GradientChecker(const CostFunction* function,
+                  const std::vector<const Manifold*>* manifolds,
+                  const NumericDiffOptions& options);
+  ~GradientChecker();
+
   // Contains results from a call to Probe for later inspection.
   struct CERES_EXPORT ProbeResults {
     // The return value of the cost function.
@@ -87,11 +113,11 @@ class CERES_EXPORT GradientChecker {
     Vector residuals;
 
     // The sizes of the Jacobians below are dictated by the cost function's
-    // parameter block size and residual block sizes. If a parameter block
-    // has a local parameterization associated with it, the size of the "local"
-    // Jacobian will be determined by the local parameterization dimension and
-    // residual block size, otherwise it will be identical to the regular
-    // Jacobian.
+    // parameter block size and residual block sizes. If a parameter block has a
+    // manifold associated with it, the size of the "local" Jacobian will be
+    // determined by the dimension of the manifold (which is the same as the
+    // dimension of the tangent space) and residual block size, otherwise it
+    // will be identical to the regular Jacobian.
 
     // Derivatives as computed by the cost function.
     std::vector<Matrix> jacobians;
@@ -114,20 +140,20 @@ class CERES_EXPORT GradientChecker {
   };
 
   // Call the cost function, compute alternative Jacobians using finite
-  // differencing and compare results. If local parameterizations are given,
-  // the Jacobians will be multiplied by the local parameterization Jacobians
-  // before performing the check, which effectively means that all errors along
-  // the null space of the local parameterization will be ignored.
-  // Returns false if the Jacobians don't match, the cost function return false,
-  // or if the cost function returns different residual when called with a
-  // Jacobian output argument vs. calling it without. Otherwise returns true.
+  // differencing and compare results. If manifolds are given, the Jacobians
+  // will be multiplied by the manifold Jacobians before performing the check,
+  // which effectively means that all errors along the null space of the
+  // manifold will be ignored.  Returns false if the Jacobians don't match, the
+  // cost function return false, or if a cost function returns a different
+  // residual when called with a Jacobian output argument vs. calling it
+  // without. Otherwise returns true.
   //
   // parameters: The parameter values at which to probe.
   // relative_precision: A threshold for the relative difference between the
   // Jacobians. If the Jacobians differ by more than this amount, then the
   // probe fails.
   // results: On return, the Jacobians (and other information) will be stored
-  // here. May be NULL.
+  // here. May be nullptr.
   //
   // Returns true if no problems are detected and the difference between the
   // Jacobians is less than error_tolerance.
@@ -140,11 +166,24 @@ class CERES_EXPORT GradientChecker {
   GradientChecker(const GradientChecker&) = delete;
   void operator=(const GradientChecker&) = delete;
 
-  std::vector<const LocalParameterization*> local_parameterizations_;
+  // This bool is used to determine whether the constructor with the
+  // LocalParameterizations is called or the one with Manifolds is called. If
+  // the former, then the vector of manifolds is a vector of ManifoldAdapter
+  // objects which we own and should be deleted. If the latter then they are
+  // real Manifold objects owned by the caller and will not be deleted.
+  //
+  // This bool is only needed during the LocalParameterization to Manifold
+  // transition, once this transition is complete the LocalParameterization
+  // based constructor and this bool will be removed.
+  const bool delete_manifolds_ = false;
+
+  std::vector<const Manifold*> manifolds_;
   const CostFunction* function_;
   std::unique_ptr<CostFunction> finite_diff_cost_function_;
 };
 
 }  // namespace ceres
 
+#include "ceres/internal/reenable_warnings.h"
+
 #endif  // CERES_PUBLIC_GRADIENT_CHECKER_H_