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, 304 insertions, 0 deletions

diff --git a/extern/ceres/include/ceres/line_manifold.h b/extern/ceres/include/ceres/line_manifold.h
new file mode 100644
index 00000000000..f8f1b235220
--- /dev/null
+++ b/extern/ceres/include/ceres/line_manifold.h
@@ -0,0 +1,304 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2022 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: jodebo_beck@gmx.de (Johannes Beck)
+//
+
+#ifndef CERES_PUBLIC_LINE_MANIFOLD_H_
+#define CERES_PUBLIC_LINE_MANIFOLD_H_
+
+#include <Eigen/Core>
+#include <algorithm>
+#include <array>
+#include <memory>
+#include <vector>
+
+#include "ceres/internal/disable_warnings.h"
+#include "ceres/internal/export.h"
+#include "ceres/internal/householder_vector.h"
+#include "ceres/internal/sphere_manifold_functions.h"
+#include "ceres/manifold.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+// This provides a manifold for lines, where the line is
+// over-parameterized by an origin point and a direction vector. So the
+// parameter vector size needs to be two times the ambient space dimension,
+// where the first half is interpreted as the origin point and the second half
+// as the direction.
+//
+// The plus operator for the line direction is the same as for the
+// SphereManifold. The update of the origin point is
+// perpendicular to the line direction before the update.
+//
+// This manifold is a special case of the affine Grassmannian
+// manifold (see https://en.wikipedia.org/wiki/Affine_Grassmannian_(manifold))
+// for the case Graff_1(R^n).
+//
+// The class works with dynamic and static ambient space dimensions. If the
+// ambient space dimensions is known at compile time use
+//
+//    LineManifold<3> manifold;
+//
+// If the ambient space dimensions is not known at compile time the template
+// parameter needs to be set to ceres::DYNAMIC and the actual dimension needs
+// to be provided as a constructor argument:
+//
+//    LineManifold<ceres::DYNAMIC> manifold(ambient_dim);
+//
+template <int AmbientSpaceDimension>
+class LineManifold final : public Manifold {
+ public:
+  static_assert(AmbientSpaceDimension == DYNAMIC || AmbientSpaceDimension >= 2,
+                "The ambient space must be at least 2.");
+  static_assert(ceres::DYNAMIC == Eigen::Dynamic,
+                "ceres::DYNAMIC needs to be the same as Eigen::Dynamic.");
+
+  LineManifold();
+  explicit LineManifold(int size);
+
+  int AmbientSize() const override { return 2 * size_; }
+  int TangentSize() const override { return 2 * (size_ - 1); }
+  bool Plus(const double* x,
+            const double* delta,
+            double* x_plus_delta) const override;
+  bool PlusJacobian(const double* x, double* jacobian) const override;
+  bool Minus(const double* y,
+             const double* x,
+             double* y_minus_x) const override;
+  bool MinusJacobian(const double* x, double* jacobian) const override;
+
+ private:
+  static constexpr bool IsDynamic = (AmbientSpaceDimension == ceres::DYNAMIC);
+  static constexpr int TangentSpaceDimension =
+      IsDynamic ? ceres::DYNAMIC : AmbientSpaceDimension - 1;
+
+  static constexpr int DAmbientSpaceDimension =
+      IsDynamic ? ceres::DYNAMIC : 2 * AmbientSpaceDimension;
+  static constexpr int DTangentSpaceDimension =
+      IsDynamic ? ceres::DYNAMIC : 2 * TangentSpaceDimension;
+
+  using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
+  using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
+  using MatrixPlusJacobian = Eigen::Matrix<double,
+                                           DAmbientSpaceDimension,
+                                           DTangentSpaceDimension,
+                                           Eigen::RowMajor>;
+  using MatrixMinusJacobian = Eigen::Matrix<double,
+                                            DTangentSpaceDimension,
+                                            DAmbientSpaceDimension,
+                                            Eigen::RowMajor>;
+
+  const int size_{AmbientSpaceDimension};
+};
+
+template <int AmbientSpaceDimension>
+LineManifold<AmbientSpaceDimension>::LineManifold()
+    : size_{AmbientSpaceDimension} {
+  static_assert(
+      AmbientSpaceDimension != Eigen::Dynamic,
+      "The size is set to dynamic. Please call the constructor with a size.");
+}
+
+template <int AmbientSpaceDimension>
+LineManifold<AmbientSpaceDimension>::LineManifold(int size) : size_{size} {
+  if (AmbientSpaceDimension != Eigen::Dynamic) {
+    CHECK_EQ(AmbientSpaceDimension, size)
+        << "Specified size by template parameter differs from the supplied "
+           "one.";
+  } else {
+    CHECK_GT(size_, 1)
+        << "The size of the manifold needs to be greater than 1.";
+  }
+}
+
+template <int AmbientSpaceDimension>
+bool LineManifold<AmbientSpaceDimension>::Plus(const double* x_ptr,
+                                               const double* delta_ptr,
+                                               double* x_plus_delta_ptr) const {
+  // We seek a box plus operator of the form
+  //
+  //   [o*, d*] = Plus([o, d], [delta_o, delta_d])
+  //
+  // where o is the origin point, d is the direction vector, delta_o is
+  // the delta of the origin point and delta_d the delta of the direction and
+  // o* and d* is the updated origin point and direction.
+  //
+  // We separate the Plus operator into the origin point and directional part
+  //   d* = Plus_d(d, delta_d)
+  //   o* = Plus_o(o, d, delta_o)
+  //
+  // The direction update function Plus_d is the same as as the SphereManifold:
+  //
+  //   d* = H_{v(d)} [0.5 sinc(0.5 |delta_d|) delta_d, cos(0.5 |delta_d|)]^T
+  //
+  // where H is the householder matrix
+  //   H_{v} = I - (2 / |v|^2) v v^T
+  // and
+  //   v(d) = d - sign(d_n) |d| e_n.
+  //
+  // The origin point update function Plus_o is defined as
+  //
+  //   o* = o + H_{v(d)} [0.5 delta_o, 0]^T.
+
+  Eigen::Map<const AmbientVector> o(x_ptr, size_);
+  Eigen::Map<const AmbientVector> d(x_ptr + size_, size_);
+
+  Eigen::Map<const TangentVector> delta_o(delta_ptr, size_ - 1);
+  Eigen::Map<const TangentVector> delta_d(delta_ptr + size_ - 1, size_ - 1);
+  Eigen::Map<AmbientVector> o_plus_delta(x_plus_delta_ptr, size_);
+  Eigen::Map<AmbientVector> d_plus_delta(x_plus_delta_ptr + size_, size_);
+
+  const double norm_delta_d = delta_d.norm();
+
+  o_plus_delta = o;
+
+  // Shortcut for zero delta direction.
+  if (norm_delta_d == 0.0) {
+    d_plus_delta = d;
+
+    if (delta_o.isZero(0.0)) {
+      return true;
+    }
+  }
+
+  // Calculate the householder transformation which is needed for f_d and f_o.
+  AmbientVector v(size_);
+  double beta;
+
+  // NOTE: The explicit template arguments are needed here because
+  // ComputeHouseholderVector is templated and some versions of MSVC
+  // have trouble deducing the type of v automatically.
+  internal::ComputeHouseholderVector<Eigen::Map<const AmbientVector>,
+                                     double,
+                                     AmbientSpaceDimension>(d, &v, &beta);
+
+  if (norm_delta_d != 0.0) {
+    internal::ComputeSphereManifoldPlus(
+        v, beta, d, delta_d, norm_delta_d, &d_plus_delta);
+  }
+
+  // The null space is in the direction of the line, so the tangent space is
+  // perpendicular to the line direction. This is achieved by using the
+  // householder matrix of the direction and allow only movements
+  // perpendicular to e_n.
+  //
+  // The factor of 0.5 is used to be consistent with the line direction
+  // update.
+  AmbientVector y(size_);
+  y << 0.5 * delta_o, 0;
+  o_plus_delta += internal::ApplyHouseholderVector(y, v, beta);
+
+  return true;
+}
+
+template <int AmbientSpaceDimension>
+bool LineManifold<AmbientSpaceDimension>::PlusJacobian(
+    const double* x_ptr, double* jacobian_ptr) const {
+  Eigen::Map<const AmbientVector> d(x_ptr + size_, size_);
+  Eigen::Map<MatrixPlusJacobian> jacobian(
+      jacobian_ptr, 2 * size_, 2 * (size_ - 1));
+
+  // Clear the Jacobian as only half of the matrix is not zero.
+  jacobian.setZero();
+
+  auto jacobian_d =
+      jacobian
+          .template topLeftCorner<AmbientSpaceDimension, TangentSpaceDimension>(
+              size_, size_ - 1);
+  auto jacobian_o = jacobian.template bottomRightCorner<AmbientSpaceDimension,
+                                                        TangentSpaceDimension>(
+      size_, size_ - 1);
+  internal::ComputeSphereManifoldPlusJacobian(d, &jacobian_d);
+  jacobian_o = jacobian_d;
+  return true;
+}
+
+template <int AmbientSpaceDimension>
+bool LineManifold<AmbientSpaceDimension>::Minus(const double* y_ptr,
+                                                const double* x_ptr,
+                                                double* y_minus_x) const {
+  Eigen::Map<const AmbientVector> y_o(y_ptr, size_);
+  Eigen::Map<const AmbientVector> y_d(y_ptr + size_, size_);
+  Eigen::Map<const AmbientVector> x_o(x_ptr, size_);
+  Eigen::Map<const AmbientVector> x_d(x_ptr + size_, size_);
+
+  Eigen::Map<TangentVector> y_minus_x_o(y_minus_x, size_ - 1);
+  Eigen::Map<TangentVector> y_minus_x_d(y_minus_x + size_ - 1, size_ - 1);
+
+  AmbientVector v(size_);
+  double beta;
+
+  // NOTE: The explicit template arguments are needed here because
+  // ComputeHouseholderVector is templated and some versions of MSVC
+  // have trouble deducing the type of v automatically.
+  internal::ComputeHouseholderVector<Eigen::Map<const AmbientVector>,
+                                     double,
+                                     AmbientSpaceDimension>(x_d, &v, &beta);
+
+  internal::ComputeSphereManifoldMinus(v, beta, x_d, y_d, &y_minus_x_d);
+
+  AmbientVector delta_o = y_o - x_o;
+  const AmbientVector h_delta_o =
+      2.0 * internal::ApplyHouseholderVector(delta_o, v, beta);
+  y_minus_x_o = h_delta_o.template head<TangentSpaceDimension>(size_ - 1);
+
+  return true;
+}
+
+template <int AmbientSpaceDimension>
+bool LineManifold<AmbientSpaceDimension>::MinusJacobian(
+    const double* x_ptr, double* jacobian_ptr) const {
+  Eigen::Map<const AmbientVector> d(x_ptr + size_, size_);
+  Eigen::Map<MatrixMinusJacobian> jacobian(
+      jacobian_ptr, 2 * (size_ - 1), 2 * size_);
+
+  // Clear the Jacobian as only half of the matrix is not zero.
+  jacobian.setZero();
+
+  auto jacobian_d =
+      jacobian
+          .template topLeftCorner<TangentSpaceDimension, AmbientSpaceDimension>(
+              size_ - 1, size_);
+  auto jacobian_o = jacobian.template bottomRightCorner<TangentSpaceDimension,
+                                                        AmbientSpaceDimension>(
+      size_ - 1, size_);
+  internal::ComputeSphereManifoldMinusJacobian(d, &jacobian_d);
+  jacobian_o = jacobian_d;
+
+  return true;
+}
+
+}  // namespace ceres
+
+// clang-format off
+#include "ceres/internal/reenable_warnings.h"
+// clang-format on
+
+#endif  // CERES_PUBLIC_LINE_MANIFOLD_H_