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.

25 files changed, 319 insertions, 200 deletions

diff --git a/extern/ceres/include/ceres/autodiff_cost_function.h b/extern/ceres/include/ceres/autodiff_cost_function.h
index 5e6e9c55db5..207f0a41688 100644
--- a/extern/ceres/include/ceres/autodiff_cost_function.h
+++ b/extern/ceres/include/ceres/autodiff_cost_function.h
@@ -153,28 +153,44 @@ template <typename CostFunctor,
           int... Ns>          // Number of parameters in each parameter block.
 class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals, Ns...> {
  public:
-  // Takes ownership of functor. Uses the template-provided value for the
-  // number of residuals ("kNumResiduals").
-  explicit AutoDiffCostFunction(CostFunctor* functor) : functor_(functor) {
+  // Takes ownership of functor by default. Uses the template-provided
+  // value for the number of residuals ("kNumResiduals").
+  explicit AutoDiffCostFunction(CostFunctor* functor,
+                                Ownership ownership = TAKE_OWNERSHIP)
+      : functor_(functor), ownership_(ownership) {
     static_assert(kNumResiduals != DYNAMIC,
                   "Can't run the fixed-size constructor if the number of "
                   "residuals is set to ceres::DYNAMIC.");
   }
 
-  // Takes ownership of functor. Ignores the template-provided
+  // Takes ownership of functor by default. Ignores the template-provided
   // kNumResiduals in favor of the "num_residuals" argument provided.
   //
   // This allows for having autodiff cost functions which return varying
   // numbers of residuals at runtime.
-  AutoDiffCostFunction(CostFunctor* functor, int num_residuals)
-      : functor_(functor) {
+  AutoDiffCostFunction(CostFunctor* functor,
+                       int num_residuals,
+                       Ownership ownership = TAKE_OWNERSHIP)
+      : functor_(functor), ownership_(ownership) {
     static_assert(kNumResiduals == DYNAMIC,
                   "Can't run the dynamic-size constructor if the number of "
                   "residuals is not ceres::DYNAMIC.");
     SizedCostFunction<kNumResiduals, Ns...>::set_num_residuals(num_residuals);
   }
 
-  virtual ~AutoDiffCostFunction() {}
+  explicit AutoDiffCostFunction(AutoDiffCostFunction&& other)
+      : functor_(std::move(other.functor_)), ownership_(other.ownership_) {}
+
+  virtual ~AutoDiffCostFunction() {
+    // Manually release pointer if configured to not take ownership rather than
+    // deleting only if ownership is taken.
+    // This is to stay maximally compatible to old user code which may have
+    // forgotten to implement a virtual destructor, from when the
+    // AutoDiffCostFunction always took ownership.
+    if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+      functor_.release();
+    }
+  }
 
   // Implementation details follow; clients of the autodiff cost function should
   // not have to examine below here.
@@ -201,6 +217,7 @@ class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals, Ns...> {
 
  private:
   std::unique_ptr<CostFunctor> functor_;
+  Ownership ownership_;
 };
 
 }  // namespace ceres
diff --git a/extern/ceres/include/ceres/c_api.h b/extern/ceres/include/ceres/c_api.h
index 0e6e590d0f5..91b82bf995f 100644
--- a/extern/ceres/include/ceres/c_api.h
+++ b/extern/ceres/include/ceres/c_api.h
@@ -38,8 +38,10 @@
 #ifndef CERES_PUBLIC_C_API_H_
 #define CERES_PUBLIC_C_API_H_
 
+// clang-format off
 #include "ceres/internal/port.h"
 #include "ceres/internal/disable_warnings.h"
+// clang-format on
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/extern/ceres/include/ceres/cost_function_to_functor.h b/extern/ceres/include/ceres/cost_function_to_functor.h
index 1beeb906063..9364293afc5 100644
--- a/extern/ceres/include/ceres/cost_function_to_functor.h
+++ b/extern/ceres/include/ceres/cost_function_to_functor.h
@@ -144,8 +144,7 @@ class CostFunctionToFunctor {
 
     // Extract parameter block pointers from params.
     using Indices =
-        std::make_integer_sequence<int,
-                                   ParameterDims::kNumParameterBlocks>;
+        std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>;
     std::array<const T*, ParameterDims::kNumParameterBlocks> parameter_blocks =
         GetParameterPointers<T>(params, Indices());
 
diff --git a/extern/ceres/include/ceres/covariance.h b/extern/ceres/include/ceres/covariance.h
index 99825c425ad..2fe025df3ce 100644
--- a/extern/ceres/include/ceres/covariance.h
+++ b/extern/ceres/include/ceres/covariance.h
@@ -51,7 +51,7 @@ class CovarianceImpl;
 // =======
 // It is very easy to use this class incorrectly without understanding
 // the underlying mathematics. Please read and understand the
-// documentation completely before attempting to use this class.
+// documentation completely before attempting to use it.
 //
 //
 // This class allows the user to evaluate the covariance for a
@@ -73,7 +73,7 @@ class CovarianceImpl;
 // the maximum likelihood estimate of x given observations y is the
 // solution to the non-linear least squares problem:
 //
-//  x* = arg min_x |f(x)|^2
+//  x* = arg min_x |f(x) - y|^2
 //
 // And the covariance of x* is given by
 //
@@ -220,11 +220,11 @@ class CERES_EXPORT Covariance {
     // 1. DENSE_SVD uses Eigen's JacobiSVD to perform the
     //    computations. It computes the singular value decomposition
     //
-    //      U * S * V' = J
+    //      U * D * V' = J
     //
     //    and then uses it to compute the pseudo inverse of J'J as
     //
-    //      pseudoinverse[J'J]^ = V * pseudoinverse[S] * V'
+    //      pseudoinverse[J'J] = V * pseudoinverse[D^2] * V'
     //
     //    It is an accurate but slow method and should only be used
     //    for small to moderate sized problems. It can handle
@@ -235,7 +235,7 @@ class CERES_EXPORT Covariance {
     //
     //      Q * R = J
     //
-    //    [J'J]^-1 = [R*R']^-1
+    //    [J'J]^-1 = [R'*R]^-1
     //
     // SPARSE_QR is not capable of computing the covariance if the
     // Jacobian is rank deficient. Depending on the value of
diff --git a/extern/ceres/include/ceres/dynamic_autodiff_cost_function.h b/extern/ceres/include/ceres/dynamic_autodiff_cost_function.h
index 7b75150b5ce..7ccf6a88c32 100644
--- a/extern/ceres/include/ceres/dynamic_autodiff_cost_function.h
+++ b/extern/ceres/include/ceres/dynamic_autodiff_cost_function.h
@@ -40,6 +40,7 @@
 #include "ceres/dynamic_cost_function.h"
 #include "ceres/internal/fixed_array.h"
 #include "ceres/jet.h"
+#include "ceres/types.h"
 #include "glog/logging.h"
 
 namespace ceres {
@@ -78,10 +79,24 @@ namespace ceres {
 template <typename CostFunctor, int Stride = 4>
 class DynamicAutoDiffCostFunction : public DynamicCostFunction {
  public:
-  explicit DynamicAutoDiffCostFunction(CostFunctor* functor)
-      : functor_(functor) {}
+  // Takes ownership by default.
+  DynamicAutoDiffCostFunction(CostFunctor* functor,
+                              Ownership ownership = TAKE_OWNERSHIP)
+      : functor_(functor), ownership_(ownership) {}
 
-  virtual ~DynamicAutoDiffCostFunction() {}
+  explicit DynamicAutoDiffCostFunction(DynamicAutoDiffCostFunction&& other)
+      : functor_(std::move(other.functor_)), ownership_(other.ownership_) {}
+
+  virtual ~DynamicAutoDiffCostFunction() {
+    // Manually release pointer if configured to not take ownership
+    // rather than deleting only if ownership is taken.  This is to
+    // stay maximally compatible to old user code which may have
+    // forgotten to implement a virtual destructor, from when the
+    // AutoDiffCostFunction always took ownership.
+    if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+      functor_.release();
+    }
+  }
 
   bool Evaluate(double const* const* parameters,
                 double* residuals,
@@ -151,6 +166,9 @@ class DynamicAutoDiffCostFunction : public DynamicCostFunction {
       }
     }
 
+    if (num_active_parameters == 0) {
+      return (*functor_)(parameters, residuals);
+    }
     // When `num_active_parameters % Stride != 0` then it can be the case
     // that `active_parameter_count < Stride` while parameter_cursor is less
     // than the total number of parameters and with no remaining non-constant
@@ -248,6 +266,7 @@ class DynamicAutoDiffCostFunction : public DynamicCostFunction {
 
  private:
   std::unique_ptr<CostFunctor> functor_;
+  Ownership ownership_;
 };
 
 }  // namespace ceres
diff --git a/extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h b/extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h
index 119b3f85e8e..ccc8f66db43 100644
--- a/extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h
+++ b/extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h
@@ -44,6 +44,7 @@
 #include "ceres/internal/numeric_diff.h"
 #include "ceres/internal/parameter_dims.h"
 #include "ceres/numeric_diff_options.h"
+#include "ceres/types.h"
 #include "glog/logging.h"
 
 namespace ceres {
@@ -84,6 +85,10 @@ class DynamicNumericDiffCostFunction : public DynamicCostFunction {
       const NumericDiffOptions& options = NumericDiffOptions())
       : functor_(functor), ownership_(ownership), options_(options) {}
 
+  explicit DynamicNumericDiffCostFunction(
+      DynamicNumericDiffCostFunction&& other)
+      : functor_(std::move(other.functor_)), ownership_(other.ownership_) {}
+
   virtual ~DynamicNumericDiffCostFunction() {
     if (ownership_ != TAKE_OWNERSHIP) {
       functor_.release();
diff --git a/extern/ceres/include/ceres/gradient_problem_solver.h b/extern/ceres/include/ceres/gradient_problem_solver.h
index 181699d8fd4..9fab62e6d94 100644
--- a/extern/ceres/include/ceres/gradient_problem_solver.h
+++ b/extern/ceres/include/ceres/gradient_problem_solver.h
@@ -62,7 +62,8 @@ class CERES_EXPORT GradientProblemSolver {
     // Minimizer options ----------------------------------------
     LineSearchDirectionType line_search_direction_type = LBFGS;
     LineSearchType line_search_type = WOLFE;
-    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type = FLETCHER_REEVES;
+    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type =
+        FLETCHER_REEVES;
 
     // The LBFGS hessian approximation is a low rank approximation to
     // the inverse of the Hessian matrix. The rank of the
diff --git a/extern/ceres/include/ceres/internal/autodiff.h b/extern/ceres/include/ceres/internal/autodiff.h
index cb7b1aca5b9..9d7de758508 100644
--- a/extern/ceres/include/ceres/internal/autodiff.h
+++ b/extern/ceres/include/ceres/internal/autodiff.h
@@ -198,7 +198,7 @@ struct Make1stOrderPerturbation {
 template <int N, int Offset, typename T, typename JetT>
 struct Make1stOrderPerturbation<N, N, Offset, T, JetT> {
  public:
-  static void Apply(const T* /*src*/, JetT* /*dst*/) {}
+  static void Apply(const T* src, JetT* dst) {}
 };
 
 // Calls Make1stOrderPerturbation for every parameter block.
@@ -229,7 +229,9 @@ struct Make1stOrderPerturbations<std::integer_sequence<int, N, Ns...>,
 
 // End of 'recursion'. Nothing more to do.
 template <int ParameterIdx, int Total>
-struct Make1stOrderPerturbations<std::integer_sequence<int>, ParameterIdx, Total> {
+struct Make1stOrderPerturbations<std::integer_sequence<int>,
+                                 ParameterIdx,
+                                 Total> {
   template <typename T, typename JetT>
   static void Apply(T const* const* /* NOT USED */, JetT* /* NOT USED */) {}
 };
diff --git a/extern/ceres/include/ceres/internal/disable_warnings.h b/extern/ceres/include/ceres/internal/disable_warnings.h
index fd848feec0f..d7766a0a08f 100644
--- a/extern/ceres/include/ceres/internal/disable_warnings.h
+++ b/extern/ceres/include/ceres/internal/disable_warnings.h
@@ -34,11 +34,11 @@
 #define CERES_WARNINGS_DISABLED
 
 #ifdef _MSC_VER
-#pragma warning( push )
+#pragma warning(push)
 // Disable the warning C4251 which is triggered by stl classes in
 // Ceres' public interface. To quote MSDN: "C4251 can be ignored "
 // "if you are deriving from a type in the Standard C++ Library"
-#pragma warning( disable : 4251 )
+#pragma warning(disable : 4251)
 #endif
 
 #endif  // CERES_WARNINGS_DISABLED
diff --git a/extern/ceres/include/ceres/internal/eigen.h b/extern/ceres/include/ceres/internal/eigen.h
index 59545dfd9c9..b6d0b7f610c 100644
--- a/extern/ceres/include/ceres/internal/eigen.h
+++ b/extern/ceres/include/ceres/internal/eigen.h
@@ -36,31 +36,26 @@
 namespace ceres {
 
 typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
-typedef Eigen::Matrix<double,
-                      Eigen::Dynamic,
-                      Eigen::Dynamic,
-                      Eigen::RowMajor> Matrix;
+typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
+    Matrix;
 typedef Eigen::Map<Vector> VectorRef;
 typedef Eigen::Map<Matrix> MatrixRef;
 typedef Eigen::Map<const Vector> ConstVectorRef;
 typedef Eigen::Map<const Matrix> ConstMatrixRef;
 
 // Column major matrices for DenseSparseMatrix/DenseQRSolver
-typedef Eigen::Matrix<double,
-                      Eigen::Dynamic,
-                      Eigen::Dynamic,
-                      Eigen::ColMajor> ColMajorMatrix;
+typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>
+    ColMajorMatrix;
 
-typedef Eigen::Map<ColMajorMatrix, 0,
-                   Eigen::Stride<Eigen::Dynamic, 1>> ColMajorMatrixRef;
+typedef Eigen::Map<ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>
+    ColMajorMatrixRef;
 
-typedef Eigen::Map<const ColMajorMatrix,
-                   0,
-                   Eigen::Stride<Eigen::Dynamic, 1>> ConstColMajorMatrixRef;
+typedef Eigen::Map<const ColMajorMatrix, 0, Eigen::Stride<Eigen::Dynamic, 1>>
+    ConstColMajorMatrixRef;
 
 // C++ does not support templated typdefs, thus the need for this
 // struct so that we can support statically sized Matrix and Maps.
- template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
+template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
 struct EigenTypes {
   typedef Eigen::Matrix<double,
                         num_rows,
diff --git a/extern/ceres/include/ceres/internal/fixed_array.h b/extern/ceres/include/ceres/internal/fixed_array.h
index f8ef02d40e8..dcbddcd3a1d 100644
--- a/extern/ceres/include/ceres/internal/fixed_array.h
+++ b/extern/ceres/include/ceres/internal/fixed_array.h
@@ -30,6 +30,7 @@
 #ifndef CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
 #define CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
 
+#include <Eigen/Core>  // For Eigen::aligned_allocator
 #include <algorithm>
 #include <array>
 #include <cstddef>
@@ -37,8 +38,6 @@
 #include <tuple>
 #include <type_traits>
 
-#include <Eigen/Core> // For Eigen::aligned_allocator
-
 #include "ceres/internal/memory.h"
 #include "glog/logging.h"
 
diff --git a/extern/ceres/include/ceres/internal/integer_sequence_algorithm.h b/extern/ceres/include/ceres/internal/integer_sequence_algorithm.h
index 170acac2832..8c0f3bc8ac4 100644
--- a/extern/ceres/include/ceres/internal/integer_sequence_algorithm.h
+++ b/extern/ceres/include/ceres/internal/integer_sequence_algorithm.h
@@ -62,7 +62,8 @@ struct SumImpl;
 // Strip of and sum the first number.
 template <typename T, T N, T... Ns>
 struct SumImpl<std::integer_sequence<T, N, Ns...>> {
-  static constexpr T Value = N + SumImpl<std::integer_sequence<T, Ns...>>::Value;
+  static constexpr T Value =
+      N + SumImpl<std::integer_sequence<T, Ns...>>::Value;
 };
 
 // Strip of and sum the first two numbers.
@@ -129,10 +130,14 @@ template <typename T, T Sum, typename SeqIn, typename SeqOut>
 struct ExclusiveScanImpl;
 
 template <typename T, T Sum, T N, T... Ns, T... Rs>
-struct ExclusiveScanImpl<T, Sum, std::integer_sequence<T, N, Ns...>,
+struct ExclusiveScanImpl<T,
+                         Sum,
+                         std::integer_sequence<T, N, Ns...>,
                          std::integer_sequence<T, Rs...>> {
   using Type =
-      typename ExclusiveScanImpl<T, Sum + N, std::integer_sequence<T, Ns...>,
+      typename ExclusiveScanImpl<T,
+                                 Sum + N,
+                                 std::integer_sequence<T, Ns...>,
                                  std::integer_sequence<T, Rs..., Sum>>::Type;
 };
 
diff --git a/extern/ceres/include/ceres/internal/numeric_diff.h b/extern/ceres/include/ceres/internal/numeric_diff.h
index fb2e00baca5..ff7a2c345e4 100644
--- a/extern/ceres/include/ceres/internal/numeric_diff.h
+++ b/extern/ceres/include/ceres/internal/numeric_diff.h
@@ -47,15 +47,17 @@
 #include "ceres/types.h"
 #include "glog/logging.h"
 
-
 namespace ceres {
 namespace internal {
 
 // This is split from the main class because C++ doesn't allow partial template
 // specializations for member functions. The alternative is to repeat the main
 // class for differing numbers of parameters, which is also unfortunate.
-template <typename CostFunctor, NumericDiffMethodType kMethod,
-          int kNumResiduals, typename ParameterDims, int kParameterBlock,
+template <typename CostFunctor,
+          NumericDiffMethodType kMethod,
+          int kNumResiduals,
+          typename ParameterDims,
+          int kParameterBlock,
           int kParameterBlockSize>
 struct NumericDiff {
   // Mutates parameters but must restore them before return.
@@ -66,23 +68,23 @@ struct NumericDiff {
       int num_residuals,
       int parameter_block_index,
       int parameter_block_size,
-      double **parameters,
-      double *jacobian) {
+      double** parameters,
+      double* jacobian) {
+    using Eigen::ColMajor;
     using Eigen::Map;
     using Eigen::Matrix;
     using Eigen::RowMajor;
-    using Eigen::ColMajor;
 
     DCHECK(jacobian);
 
     const int num_residuals_internal =
         (kNumResiduals != ceres::DYNAMIC ? kNumResiduals : num_residuals);
     const int parameter_block_index_internal =
-        (kParameterBlock != ceres::DYNAMIC ? kParameterBlock :
-                                             parameter_block_index);
+        (kParameterBlock != ceres::DYNAMIC ? kParameterBlock
+                                           : parameter_block_index);
     const int parameter_block_size_internal =
-        (kParameterBlockSize != ceres::DYNAMIC ? kParameterBlockSize :
-                                                 parameter_block_size);
+        (kParameterBlockSize != ceres::DYNAMIC ? kParameterBlockSize
+                                               : parameter_block_size);
 
     typedef Matrix<double, kNumResiduals, 1> ResidualVector;
     typedef Matrix<double, kParameterBlockSize, 1> ParameterVector;
@@ -97,17 +99,17 @@ struct NumericDiff {
                    (kParameterBlockSize == 1) ? ColMajor : RowMajor>
         JacobianMatrix;
 
-    Map<JacobianMatrix> parameter_jacobian(jacobian,
-                                           num_residuals_internal,
-                                           parameter_block_size_internal);
+    Map<JacobianMatrix> parameter_jacobian(
+        jacobian, num_residuals_internal, parameter_block_size_internal);
 
     Map<ParameterVector> x_plus_delta(
         parameters[parameter_block_index_internal],
         parameter_block_size_internal);
     ParameterVector x(x_plus_delta);
-    ParameterVector step_size = x.array().abs() *
-        ((kMethod == RIDDERS) ? options.ridders_relative_initial_step_size :
-        options.relative_step_size);
+    ParameterVector step_size =
+        x.array().abs() * ((kMethod == RIDDERS)
+                               ? options.ridders_relative_initial_step_size
+                               : options.relative_step_size);
 
     // It is not a good idea to make the step size arbitrarily
     // small. This will lead to problems with round off and numerical
@@ -118,8 +120,8 @@ struct NumericDiff {
     // For Ridders' method, the initial step size is required to be large,
     // thus ridders_relative_initial_step_size is used.
     if (kMethod == RIDDERS) {
-      min_step_size = std::max(min_step_size,
-                               options.ridders_relative_initial_step_size);
+      min_step_size =
+          std::max(min_step_size, options.ridders_relative_initial_step_size);
     }
 
     // For each parameter in the parameter block, use finite differences to
@@ -133,7 +135,9 @@ struct NumericDiff {
       const double delta = std::max(min_step_size, step_size(j));
 
       if (kMethod == RIDDERS) {
-        if (!EvaluateRiddersJacobianColumn(functor, j, delta,
+        if (!EvaluateRiddersJacobianColumn(functor,
+                                           j,
+                                           delta,
                                            options,
                                            num_residuals_internal,
                                            parameter_block_size_internal,
@@ -146,7 +150,9 @@ struct NumericDiff {
           return false;
         }
       } else {
-        if (!EvaluateJacobianColumn(functor, j, delta,
+        if (!EvaluateJacobianColumn(functor,
+                                    j,
+                                    delta,
                                     num_residuals_internal,
                                     parameter_block_size_internal,
                                     x.data(),
@@ -182,8 +188,7 @@ struct NumericDiff {
     typedef Matrix<double, kParameterBlockSize, 1> ParameterVector;
 
     Map<const ParameterVector> x(x_ptr, parameter_block_size);
-    Map<ParameterVector> x_plus_delta(x_plus_delta_ptr,
-                                      parameter_block_size);
+    Map<ParameterVector> x_plus_delta(x_plus_delta_ptr, parameter_block_size);
 
     Map<ResidualVector> residuals(residuals_ptr, num_residuals);
     Map<ResidualVector> temp_residuals(temp_residuals_ptr, num_residuals);
@@ -191,9 +196,8 @@ struct NumericDiff {
     // Mutate 1 element at a time and then restore.
     x_plus_delta(parameter_index) = x(parameter_index) + delta;
 
-    if (!VariadicEvaluate<ParameterDims>(*functor,
-                                         parameters,
-                                         residuals.data())) {
+    if (!VariadicEvaluate<ParameterDims>(
+            *functor, parameters, residuals.data())) {
       return false;
     }
 
@@ -206,9 +210,8 @@ struct NumericDiff {
       // Compute the function on the other side of x(parameter_index).
       x_plus_delta(parameter_index) = x(parameter_index) - delta;
 
-      if (!VariadicEvaluate<ParameterDims>(*functor,
-                                           parameters,
-                                           temp_residuals.data())) {
+      if (!VariadicEvaluate<ParameterDims>(
+              *functor, parameters, temp_residuals.data())) {
         return false;
       }
 
@@ -217,8 +220,7 @@ struct NumericDiff {
     } else {
       // Forward difference only; reuse existing residuals evaluation.
       residuals -=
-          Map<const ResidualVector>(residuals_at_eval_point,
-                                    num_residuals);
+          Map<const ResidualVector>(residuals_at_eval_point, num_residuals);
     }
 
     // Restore x_plus_delta.
@@ -254,17 +256,17 @@ struct NumericDiff {
       double* x_plus_delta_ptr,
       double* temp_residuals_ptr,
       double* residuals_ptr) {
+    using Eigen::aligned_allocator;
     using Eigen::Map;
     using Eigen::Matrix;
-    using Eigen::aligned_allocator;
 
     typedef Matrix<double, kNumResiduals, 1> ResidualVector;
-    typedef Matrix<double, kNumResiduals, Eigen::Dynamic> ResidualCandidateMatrix;
+    typedef Matrix<double, kNumResiduals, Eigen::Dynamic>
+        ResidualCandidateMatrix;
     typedef Matrix<double, kParameterBlockSize, 1> ParameterVector;
 
     Map<const ParameterVector> x(x_ptr, parameter_block_size);
-    Map<ParameterVector> x_plus_delta(x_plus_delta_ptr,
-                                      parameter_block_size);
+    Map<ParameterVector> x_plus_delta(x_plus_delta_ptr, parameter_block_size);
 
     Map<ResidualVector> residuals(residuals_ptr, num_residuals);
     Map<ResidualVector> temp_residuals(temp_residuals_ptr, num_residuals);
@@ -275,18 +277,16 @@ struct NumericDiff {
     // As the derivative is estimated, the step size decreases.
     // By default, the step sizes are chosen so that the middle column
     // of the Romberg tableau uses the input delta.
-    double current_step_size = delta *
-        pow(options.ridders_step_shrink_factor,
-            options.max_num_ridders_extrapolations / 2);
+    double current_step_size =
+        delta * pow(options.ridders_step_shrink_factor,
+                    options.max_num_ridders_extrapolations / 2);
 
     // Double-buffering temporary differential candidate vectors
     // from previous step size.
     ResidualCandidateMatrix stepsize_candidates_a(
-        num_residuals,
-        options.max_num_ridders_extrapolations);
+        num_residuals, options.max_num_ridders_extrapolations);
     ResidualCandidateMatrix stepsize_candidates_b(
-        num_residuals,
-        options.max_num_ridders_extrapolations);
+        num_residuals, options.max_num_ridders_extrapolations);
     ResidualCandidateMatrix* current_candidates = &stepsize_candidates_a;
     ResidualCandidateMatrix* previous_candidates = &stepsize_candidates_b;
 
@@ -304,7 +304,9 @@ struct NumericDiff {
     //  3. Extrapolation becomes numerically unstable.
     for (int i = 0; i < options.max_num_ridders_extrapolations; ++i) {
       // Compute the numerical derivative at this step size.
-      if (!EvaluateJacobianColumn(functor, parameter_index, current_step_size,
+      if (!EvaluateJacobianColumn(functor,
+                                  parameter_index,
+                                  current_step_size,
                                   num_residuals,
                                   parameter_block_size,
                                   x.data(),
@@ -327,23 +329,24 @@ struct NumericDiff {
 
       // Extrapolation factor for Richardson acceleration method (see below).
       double richardson_factor = options.ridders_step_shrink_factor *
-          options.ridders_step_shrink_factor;
+                                 options.ridders_step_shrink_factor;
       for (int k = 1; k <= i; ++k) {
         // Extrapolate the various orders of finite differences using
         // the Richardson acceleration method.
         current_candidates->col(k) =
             (richardson_factor * current_candidates->col(k - 1) -
-             previous_candidates->col(k - 1)) / (richardson_factor - 1.0);
+             previous_candidates->col(k - 1)) /
+            (richardson_factor - 1.0);
 
         richardson_factor *= options.ridders_step_shrink_factor *
-            options.ridders_step_shrink_factor;
+                             options.ridders_step_shrink_factor;
 
         // Compute the difference between the previous value and the current.
         double candidate_error = std::max(
-            (current_candidates->col(k) -
-             current_candidates->col(k - 1)).norm(),
-            (current_candidates->col(k) -
-             previous_candidates->col(k - 1)).norm());
+            (current_candidates->col(k) - current_candidates->col(k - 1))
+                .norm(),
+            (current_candidates->col(k) - previous_candidates->col(k - 1))
+                .norm());
 
         // If the error has decreased, update results.
         if (candidate_error <= norm_error) {
@@ -365,8 +368,9 @@ struct NumericDiff {
       // Check to see if the current gradient estimate is numerically unstable.
       // If so, bail out and return the last stable result.
       if (i > 0) {
-        double tableau_error = (current_candidates->col(i) -
-            previous_candidates->col(i - 1)).norm();
+        double tableau_error =
+            (current_candidates->col(i) - previous_candidates->col(i - 1))
+                .norm();
 
         // Compare current error to the chosen candidate's error.
         if (tableau_error >= 2 * norm_error) {
@@ -482,14 +486,18 @@ struct EvaluateJacobianForParameterBlocks<ParameterDims,
 
 // End of 'recursion'. Nothing more to do.
 template <typename ParameterDims, int ParameterIdx>
-struct EvaluateJacobianForParameterBlocks<ParameterDims, std::integer_sequence<int>,
+struct EvaluateJacobianForParameterBlocks<ParameterDims,
+                                          std::integer_sequence<int>,
                                           ParameterIdx> {
-  template <NumericDiffMethodType method, int kNumResiduals,
+  template <NumericDiffMethodType method,
+            int kNumResiduals,
             typename CostFunctor>
   static bool Apply(const CostFunctor* /* NOT USED*/,
                     const double* /* NOT USED*/,
-                    const NumericDiffOptions& /* NOT USED*/, int /* NOT USED*/,
-                    double** /* NOT USED*/, double** /* NOT USED*/) {
+                    const NumericDiffOptions& /* NOT USED*/,
+                    int /* NOT USED*/,
+                    double** /* NOT USED*/,
+                    double** /* NOT USED*/) {
     return true;
   }
 };
diff --git a/extern/ceres/include/ceres/internal/port.h b/extern/ceres/include/ceres/internal/port.h
index 958b0d15cb7..040a1efba02 100644
--- a/extern/ceres/include/ceres/internal/port.h
+++ b/extern/ceres/include/ceres/internal/port.h
@@ -35,17 +35,17 @@
 #include "ceres/internal/config.h"
 
 #if defined(CERES_USE_OPENMP)
-#  if defined(CERES_USE_CXX_THREADS) || defined(CERES_NO_THREADS)
-#    error CERES_USE_OPENMP is mutually exclusive to CERES_USE_CXX_THREADS and CERES_NO_THREADS
-#  endif
+#if defined(CERES_USE_CXX_THREADS) || defined(CERES_NO_THREADS)
+#error CERES_USE_OPENMP is mutually exclusive to CERES_USE_CXX_THREADS and CERES_NO_THREADS
+#endif
 #elif defined(CERES_USE_CXX_THREADS)
-#  if defined(CERES_USE_OPENMP) || defined(CERES_NO_THREADS)
-#    error CERES_USE_CXX_THREADS is mutually exclusive to CERES_USE_OPENMP, CERES_USE_CXX_THREADS and CERES_NO_THREADS
-#  endif
+#if defined(CERES_USE_OPENMP) || defined(CERES_NO_THREADS)
+#error CERES_USE_CXX_THREADS is mutually exclusive to CERES_USE_OPENMP, CERES_USE_CXX_THREADS and CERES_NO_THREADS
+#endif
 #elif defined(CERES_NO_THREADS)
-#  if defined(CERES_USE_OPENMP) || defined(CERES_USE_CXX_THREADS)
-#    error CERES_NO_THREADS is mutually exclusive to CERES_USE_OPENMP and CERES_USE_CXX_THREADS
-#  endif
+#if defined(CERES_USE_OPENMP) || defined(CERES_USE_CXX_THREADS)
+#error CERES_NO_THREADS is mutually exclusive to CERES_USE_OPENMP and CERES_USE_CXX_THREADS
+#endif
 #else
 #  error One of CERES_USE_OPENMP, CERES_USE_CXX_THREADS or CERES_NO_THREADS must be defined.
 #endif
@@ -54,37 +54,57 @@
 // compiled without any sparse back-end.  Verify that it has not subsequently
 // been inconsistently redefined.
 #if defined(CERES_NO_SPARSE)
-#  if !defined(CERES_NO_SUITESPARSE)
-#    error CERES_NO_SPARSE requires CERES_NO_SUITESPARSE.
-#  endif
-#  if !defined(CERES_NO_CXSPARSE)
-#    error CERES_NO_SPARSE requires CERES_NO_CXSPARSE
-#  endif
-#  if !defined(CERES_NO_ACCELERATE_SPARSE)
-#    error CERES_NO_SPARSE requires CERES_NO_ACCELERATE_SPARSE
-#  endif
-#  if defined(CERES_USE_EIGEN_SPARSE)
-#    error CERES_NO_SPARSE requires !CERES_USE_EIGEN_SPARSE
-#  endif
+#if !defined(CERES_NO_SUITESPARSE)
+#error CERES_NO_SPARSE requires CERES_NO_SUITESPARSE.
+#endif
+#if !defined(CERES_NO_CXSPARSE)
+#error CERES_NO_SPARSE requires CERES_NO_CXSPARSE
+#endif
+#if !defined(CERES_NO_ACCELERATE_SPARSE)
+#error CERES_NO_SPARSE requires CERES_NO_ACCELERATE_SPARSE
+#endif
+#if defined(CERES_USE_EIGEN_SPARSE)
+#error CERES_NO_SPARSE requires !CERES_USE_EIGEN_SPARSE
+#endif
 #endif
 
 // A macro to signal which functions and classes are exported when
-// building a DLL with MSVC.
-//
-// Note that the ordering here is important, CERES_BUILDING_SHARED_LIBRARY
-// is only defined locally when Ceres is compiled, it is never exported to
-// users.  However, in order that we do not have to configure config.h
-// separately for building vs installing, if we are using MSVC and building
-// a shared library, then both CERES_BUILDING_SHARED_LIBRARY and
-// CERES_USING_SHARED_LIBRARY will be defined when Ceres is compiled.
-// Hence it is important that the check for CERES_BUILDING_SHARED_LIBRARY
-// happens first.
-#if defined(_MSC_VER) && defined(CERES_BUILDING_SHARED_LIBRARY)
-# define CERES_EXPORT __declspec(dllexport)
-#elif defined(_MSC_VER) && defined(CERES_USING_SHARED_LIBRARY)
-# define CERES_EXPORT __declspec(dllimport)
+// building a shared library.
+#if defined(_MSC_VER)
+#define CERES_API_SHARED_IMPORT __declspec(dllimport)
+#define CERES_API_SHARED_EXPORT __declspec(dllexport)
+#elif defined(__GNUC__)
+#define CERES_API_SHARED_IMPORT __attribute__((visibility("default")))
+#define CERES_API_SHARED_EXPORT __attribute__((visibility("default")))
+#else
+#define CERES_API_SHARED_IMPORT
+#define CERES_API_SHARED_EXPORT
+#endif
+
+// CERES_BUILDING_SHARED_LIBRARY is only defined locally when Ceres itself is
+// compiled as a shared library, it is never exported to users.  In order that
+// we do not have to configure config.h separately when building Ceres as either
+// a static or dynamic library, we define both CERES_USING_SHARED_LIBRARY and
+// CERES_BUILDING_SHARED_LIBRARY when building as a shared library.
+#if defined(CERES_USING_SHARED_LIBRARY)
+#if defined(CERES_BUILDING_SHARED_LIBRARY)
+// Compiling Ceres itself as a shared library.
+#define CERES_EXPORT CERES_API_SHARED_EXPORT
+#else
+// Using Ceres as a shared library.
+#define CERES_EXPORT CERES_API_SHARED_IMPORT
+#endif
+#else
+// Ceres was compiled as a static library, export everything.
+#define CERES_EXPORT
+#endif
+
+// Unit tests reach in and test internal functionality so we need a way to make
+// those symbols visible
+#ifdef CERES_EXPORT_INTERNAL_SYMBOLS
+#define CERES_EXPORT_INTERNAL CERES_EXPORT
 #else
-# define CERES_EXPORT
+#define CERES_EXPORT_INTERNAL
 #endif
 
 #endif  // CERES_PUBLIC_INTERNAL_PORT_H_
diff --git a/extern/ceres/include/ceres/internal/reenable_warnings.h b/extern/ceres/include/ceres/internal/reenable_warnings.h
index 7e410259d64..2c5db061fd7 100644
--- a/extern/ceres/include/ceres/internal/reenable_warnings.h
+++ b/extern/ceres/include/ceres/internal/reenable_warnings.h
@@ -32,7 +32,7 @@
 #undef CERES_WARNINGS_DISABLED
 
 #ifdef _MSC_VER
-#pragma warning( pop )
+#pragma warning(pop)
 #endif
 
 #endif  // CERES_WARNINGS_DISABLED
diff --git a/extern/ceres/include/ceres/internal/variadic_evaluate.h b/extern/ceres/include/ceres/internal/variadic_evaluate.h
index 046832c0bb4..47ff6b18fa0 100644
--- a/extern/ceres/include/ceres/internal/variadic_evaluate.h
+++ b/extern/ceres/include/ceres/internal/variadic_evaluate.h
@@ -46,8 +46,10 @@ namespace internal {
 
 // For fixed size cost functors
 template <typename Functor, typename T, int... Indices>
-inline bool VariadicEvaluateImpl(const Functor& functor, T const* const* input,
-                                 T* output, std::false_type /*is_dynamic*/,
+inline bool VariadicEvaluateImpl(const Functor& functor,
+                                 T const* const* input,
+                                 T* output,
+                                 std::false_type /*is_dynamic*/,
                                  std::integer_sequence<int, Indices...>) {
   static_assert(sizeof...(Indices),
                 "Invalid number of parameter blocks. At least one parameter "
@@ -57,26 +59,31 @@ inline bool VariadicEvaluateImpl(const Functor& functor, T const* const* input,
 
 // For dynamic sized cost functors
 template <typename Functor, typename T>
-inline bool VariadicEvaluateImpl(const Functor& functor, T const* const* input,
-                                 T* output, std::true_type /*is_dynamic*/,
+inline bool VariadicEvaluateImpl(const Functor& functor,
+                                 T const* const* input,
+                                 T* output,
+                                 std::true_type /*is_dynamic*/,
                                  std::integer_sequence<int>) {
   return functor(input, output);
 }
 
 // For ceres cost functors (not ceres::CostFunction)
 template <typename ParameterDims, typename Functor, typename T>
-inline bool VariadicEvaluateImpl(const Functor& functor, T const* const* input,
-                                 T* output, const void* /* NOT USED */) {
+inline bool VariadicEvaluateImpl(const Functor& functor,
+                                 T const* const* input,
+                                 T* output,
+                                 const void* /* NOT USED */) {
   using ParameterBlockIndices =
       std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>;
   using IsDynamic = std::integral_constant<bool, ParameterDims::kIsDynamic>;
-  return VariadicEvaluateImpl(functor, input, output, IsDynamic(),
-                              ParameterBlockIndices());
+  return VariadicEvaluateImpl(
+      functor, input, output, IsDynamic(), ParameterBlockIndices());
 }
 
 // For ceres::CostFunction
 template <typename ParameterDims, typename Functor, typename T>
-inline bool VariadicEvaluateImpl(const Functor& functor, T const* const* input,
+inline bool VariadicEvaluateImpl(const Functor& functor,
+                                 T const* const* input,
                                  T* output,
                                  const CostFunction* /* NOT USED */) {
   return functor.Evaluate(input, output, nullptr);
@@ -95,7 +102,8 @@ inline bool VariadicEvaluateImpl(const Functor& functor, T const* const* input,
 // blocks. The signature of the functor must have the following signature
 // 'bool()(const T* i_1, const T* i_2, ... const T* i_n, T* output)'.
 template <typename ParameterDims, typename Functor, typename T>
-inline bool VariadicEvaluate(const Functor& functor, T const* const* input,
+inline bool VariadicEvaluate(const Functor& functor,
+                             T const* const* input,
                              T* output) {
   return VariadicEvaluateImpl<ParameterDims>(functor, input, output, &functor);
 }
diff --git a/extern/ceres/include/ceres/iteration_callback.h b/extern/ceres/include/ceres/iteration_callback.h
index 0a743ecc26f..4507fdf748c 100644
--- a/extern/ceres/include/ceres/iteration_callback.h
+++ b/extern/ceres/include/ceres/iteration_callback.h
@@ -73,7 +73,7 @@ struct CERES_EXPORT IterationSummary {
   bool step_is_successful = false;
 
   // Value of the objective function.
-  double cost = 0.90;
+  double cost = 0.0;
 
   // Change in the value of the objective function in this
   // iteration. This can be positive or negative.
diff --git a/extern/ceres/include/ceres/jet.h b/extern/ceres/include/ceres/jet.h
index 7aafaa01d30..da49f32019f 100644
--- a/extern/ceres/include/ceres/jet.h
+++ b/extern/ceres/include/ceres/jet.h
@@ -388,6 +388,8 @@ using std::cbrt;
 using std::ceil;
 using std::cos;
 using std::cosh;
+using std::erf;
+using std::erfc;
 using std::exp;
 using std::exp2;
 using std::floor;
@@ -573,6 +575,21 @@ inline Jet<T, N> fmin(const Jet<T, N>& x, const Jet<T, N>& y) {
   return y < x ? y : x;
 }
 
+// erf is defined as an integral that cannot be expressed analyticaly
+// however, the derivative is trivial to compute
+// erf(x + h) = erf(x) + h * 2*exp(-x^2)/sqrt(pi)
+template <typename T, int N>
+inline Jet<T, N> erf(const Jet<T, N>& x) {
+  return Jet<T, N>(erf(x.a), x.v * M_2_SQRTPI * exp(-x.a * x.a));
+}
+
+// erfc(x) = 1-erf(x)
+// erfc(x + h) = erfc(x) + h * (-2*exp(-x^2)/sqrt(pi))
+template <typename T, int N>
+inline Jet<T, N> erfc(const Jet<T, N>& x) {
+  return Jet<T, N>(erfc(x.a), -x.v * M_2_SQRTPI * exp(-x.a * x.a));
+}
+
 // Bessel functions of the first kind with integer order equal to 0, 1, n.
 //
 // Microsoft has deprecated the j[0,1,n]() POSIX Bessel functions in favour of
diff --git a/extern/ceres/include/ceres/local_parameterization.h b/extern/ceres/include/ceres/local_parameterization.h
index 1576e829e73..ba7579deca0 100644
--- a/extern/ceres/include/ceres/local_parameterization.h
+++ b/extern/ceres/include/ceres/local_parameterization.h
@@ -90,8 +90,8 @@ namespace ceres {
 //
 // An example that occurs commonly in Structure from Motion problems
 // is when camera rotations are parameterized using Quaternion. There,
-// it is useful only make updates orthogonal to that 4-vector defining
-// the quaternion. One way to do this is to let delta be a 3
+// it is useful to only make updates orthogonal to that 4-vector
+// defining the quaternion. One way to do this is to let delta be a 3
 // dimensional vector and define Plus to be
 //
 //   Plus(x, delta) = [cos(|delta|), sin(|delta|) delta / |delta|] * x
@@ -99,7 +99,7 @@ namespace ceres {
 // The multiplication between the two 4-vectors on the RHS is the
 // standard quaternion product.
 //
-// Given g and a point x, optimizing f can now be restated as
+// Given f and a point x, optimizing f can now be restated as
 //
 //     min  f(Plus(x, delta))
 //    delta
@@ -306,6 +306,7 @@ class CERES_EXPORT ProductParameterization : public LocalParameterization {
  public:
   ProductParameterization(const ProductParameterization&) = delete;
   ProductParameterization& operator=(const ProductParameterization&) = delete;
+  virtual ~ProductParameterization() {}
   //
   // NOTE: The constructor takes ownership of the input local
   // parameterizations.
@@ -341,7 +342,8 @@ class CERES_EXPORT ProductParameterization : public LocalParameterization {
   bool Plus(const double* x,
             const double* delta,
             double* x_plus_delta) const override;
-  bool ComputeJacobian(const double* x, double* jacobian) const override;
+  bool ComputeJacobian(const double* x,
+                       double* jacobian) const override;
   int GlobalSize() const override { return global_size_; }
   int LocalSize() const override { return local_size_; }
 
@@ -354,8 +356,8 @@ class CERES_EXPORT ProductParameterization : public LocalParameterization {
 
 }  // namespace ceres
 
+// clang-format off
 #include "ceres/internal/reenable_warnings.h"
 #include "ceres/internal/line_parameterization.h"
 
 #endif  // CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
-
diff --git a/extern/ceres/include/ceres/numeric_diff_cost_function.h b/extern/ceres/include/ceres/numeric_diff_cost_function.h
index c69f262f572..cf7971cde79 100644
--- a/extern/ceres/include/ceres/numeric_diff_cost_function.h
+++ b/extern/ceres/include/ceres/numeric_diff_cost_function.h
@@ -192,7 +192,10 @@ class NumericDiffCostFunction : public SizedCostFunction<kNumResiduals, Ns...> {
     }
   }
 
-  ~NumericDiffCostFunction() {
+  explicit NumericDiffCostFunction(NumericDiffCostFunction&& other)
+      : functor_(std::move(other.functor_)), ownership_(other.ownership_) {}
+
+  virtual ~NumericDiffCostFunction() {
     if (ownership_ != TAKE_OWNERSHIP) {
       functor_.release();
     }
diff --git a/extern/ceres/include/ceres/problem.h b/extern/ceres/include/ceres/problem.h
index 88f99663f65..add12ea401d 100644
--- a/extern/ceres/include/ceres/problem.h
+++ b/extern/ceres/include/ceres/problem.h
@@ -453,13 +453,15 @@ class CERES_EXPORT Problem {
   //   problem.AddResidualBlock(new MyCostFunction, nullptr, &x);
   //
   //   double cost = 0.0;
-  //   problem.Evaluate(Problem::EvaluateOptions(), &cost, nullptr, nullptr, nullptr);
+  //   problem.Evaluate(Problem::EvaluateOptions(), &cost,
+  //                    nullptr, nullptr, nullptr);
   //
   // The cost is evaluated at x = 1. If you wish to evaluate the
   // problem at x = 2, then
   //
   //   x = 2;
-  //   problem.Evaluate(Problem::EvaluateOptions(), &cost, nullptr, nullptr, nullptr);
+  //   problem.Evaluate(Problem::EvaluateOptions(), &cost,
+  //                    nullptr, nullptr, nullptr);
   //
   // is the way to do so.
   //
@@ -475,7 +477,7 @@ class CERES_EXPORT Problem {
   // at the end of an iteration during a solve.
   //
   // Note 4: If an EvaluationCallback is associated with the problem,
-  // then its PrepareForEvaluation method will be called everytime
+  // then its PrepareForEvaluation method will be called every time
   // this method is called with new_point = true.
   bool Evaluate(const EvaluateOptions& options,
                 double* cost,
@@ -509,23 +511,41 @@ class CERES_EXPORT Problem {
   // apply_loss_function as the name implies allows the user to switch
   // the application of the loss function on and off.
   //
-  // WARNING: If an EvaluationCallback is associated with the problem
-  // then it is the user's responsibility to call it before calling
-  // this method.
-  //
-  // This is because, if the user calls this method multiple times, we
-  // cannot tell if the underlying parameter blocks have changed
-  // between calls or not. So if EvaluateResidualBlock was responsible
-  // for calling the EvaluationCallback, it will have to do it
-  // everytime it is called. Which makes the common case where the
-  // parameter blocks do not change, inefficient. So we leave it to
-  // the user to call the EvaluationCallback as needed.
+  // If an EvaluationCallback is associated with the problem, then its
+  // PrepareForEvaluation method will be called every time this method
+  // is called with new_point = true. This conservatively assumes that
+  // the user may have changed the parameter values since the previous
+  // call to evaluate / solve.  For improved efficiency, and only if
+  // you know that the parameter values have not changed between
+  // calls, see EvaluateResidualBlockAssumingParametersUnchanged().
   bool EvaluateResidualBlock(ResidualBlockId residual_block_id,
                              bool apply_loss_function,
                              double* cost,
                              double* residuals,
                              double** jacobians) const;
 
+  // Same as EvaluateResidualBlock except that if an
+  // EvaluationCallback is associated with the problem, then its
+  // PrepareForEvaluation method will be called every time this method
+  // is called with new_point = false.
+  //
+  // This means, if an EvaluationCallback is associated with the
+  // problem then it is the user's responsibility to call
+  // PrepareForEvaluation before calling this method if necessary,
+  // i.e. iff the parameter values have been changed since the last
+  // call to evaluate / solve.'
+  //
+  // This is because, as the name implies, we assume that the
+  // parameter blocks did not change since the last time
+  // PrepareForEvaluation was called (via Solve, Evaluate or
+  // EvaluateResidualBlock).
+  bool EvaluateResidualBlockAssumingParametersUnchanged(
+      ResidualBlockId residual_block_id,
+      bool apply_loss_function,
+      double* cost,
+      double* residuals,
+      double** jacobians) const;
+
  private:
   friend class Solver;
   friend class Covariance;
diff --git a/extern/ceres/include/ceres/rotation.h b/extern/ceres/include/ceres/rotation.h
index 7d5c8ef1fb2..0c82a417a2c 100644
--- a/extern/ceres/include/ceres/rotation.h
+++ b/extern/ceres/include/ceres/rotation.h
@@ -320,8 +320,8 @@ inline void QuaternionToAngleAxis(const T* quaternion, T* angle_axis) {
 }
 
 template <typename T>
-void RotationMatrixToQuaternion(const T* R, T* angle_axis) {
-  RotationMatrixToQuaternion(ColumnMajorAdapter3x3(R), angle_axis);
+void RotationMatrixToQuaternion(const T* R, T* quaternion) {
+  RotationMatrixToQuaternion(ColumnMajorAdapter3x3(R), quaternion);
 }
 
 // This algorithm comes from "Quaternion Calculus and Fast Animation",
diff --git a/extern/ceres/include/ceres/solver.h b/extern/ceres/include/ceres/solver.h
index 62631744fe2..61b8dd53eb3 100644
--- a/extern/ceres/include/ceres/solver.h
+++ b/extern/ceres/include/ceres/solver.h
@@ -360,7 +360,8 @@ class CERES_EXPORT Solver {
     //
     // If Solver::Options::preconditioner_type == SUBSET, then
     // residual_blocks_for_subset_preconditioner must be non-empty.
-    std::unordered_set<ResidualBlockId> residual_blocks_for_subset_preconditioner;
+    std::unordered_set<ResidualBlockId>
+        residual_blocks_for_subset_preconditioner;
 
     // Ceres supports using multiple dense linear algebra libraries
     // for dense matrix factorizations. Currently EIGEN and LAPACK are
@@ -838,7 +839,7 @@ class CERES_EXPORT Solver {
     int num_linear_solves = -1;
 
     // Time (in seconds) spent evaluating the residual vector.
-    double residual_evaluation_time_in_seconds = 1.0;
+    double residual_evaluation_time_in_seconds = -1.0;
 
     // Number of residual only evaluations.
     int num_residual_evaluations = -1;
diff --git a/extern/ceres/include/ceres/types.h b/extern/ceres/include/ceres/types.h
index 3a19b7333b2..5ee6fdca576 100644
--- a/extern/ceres/include/ceres/types.h
+++ b/extern/ceres/include/ceres/types.h
@@ -50,7 +50,7 @@ namespace ceres {
 // delete on it upon completion.
 enum Ownership {
   DO_NOT_TAKE_OWNERSHIP,
-  TAKE_OWNERSHIP
+  TAKE_OWNERSHIP,
 };
 
 // TODO(keir): Considerably expand the explanations of each solver type.
@@ -185,19 +185,19 @@ enum SparseLinearAlgebraLibraryType {
 
 enum DenseLinearAlgebraLibraryType {
   EIGEN,
-  LAPACK
+  LAPACK,
 };
 
 // Logging options
 // The options get progressively noisier.
 enum LoggingType {
   SILENT,
-  PER_MINIMIZER_ITERATION
+  PER_MINIMIZER_ITERATION,
 };
 
 enum MinimizerType {
   LINE_SEARCH,
-  TRUST_REGION
+  TRUST_REGION,
 };
 
 enum LineSearchDirectionType {
@@ -412,7 +412,7 @@ enum DumpFormatType {
 // specified for the number of residuals. If specified, then the
 // number of residuas for that cost function can vary at runtime.
 enum DimensionType {
-  DYNAMIC = -1
+  DYNAMIC = -1,
 };
 
 // The differentiation method used to compute numerical derivatives in
@@ -433,7 +433,7 @@ enum NumericDiffMethodType {
 enum LineSearchInterpolationType {
   BISECTION,
   QUADRATIC,
-  CUBIC
+  CUBIC,
 };
 
 enum CovarianceAlgorithmType {
@@ -448,8 +448,7 @@ enum CovarianceAlgorithmType {
 // did not write to that memory location.
 const double kImpossibleValue = 1e302;
 
-CERES_EXPORT const char* LinearSolverTypeToString(
-    LinearSolverType type);
+CERES_EXPORT const char* LinearSolverTypeToString(LinearSolverType type);
 CERES_EXPORT bool StringToLinearSolverType(std::string value,
                                            LinearSolverType* type);
 
@@ -459,25 +458,23 @@ CERES_EXPORT bool StringToPreconditionerType(std::string value,
 
 CERES_EXPORT const char* VisibilityClusteringTypeToString(
     VisibilityClusteringType type);
-CERES_EXPORT bool StringToVisibilityClusteringType(std::string value,
-                                      VisibilityClusteringType* type);
+CERES_EXPORT bool StringToVisibilityClusteringType(
+    std::string value, VisibilityClusteringType* type);
 
 CERES_EXPORT const char* SparseLinearAlgebraLibraryTypeToString(
     SparseLinearAlgebraLibraryType type);
 CERES_EXPORT bool StringToSparseLinearAlgebraLibraryType(
-    std::string value,
-    SparseLinearAlgebraLibraryType* type);
+    std::string value, SparseLinearAlgebraLibraryType* type);
 
 CERES_EXPORT const char* DenseLinearAlgebraLibraryTypeToString(
     DenseLinearAlgebraLibraryType type);
 CERES_EXPORT bool StringToDenseLinearAlgebraLibraryType(
-    std::string value,
-    DenseLinearAlgebraLibraryType* type);
+    std::string value, DenseLinearAlgebraLibraryType* type);
 
 CERES_EXPORT const char* TrustRegionStrategyTypeToString(
     TrustRegionStrategyType type);
-CERES_EXPORT bool StringToTrustRegionStrategyType(std::string value,
-                                     TrustRegionStrategyType* type);
+CERES_EXPORT bool StringToTrustRegionStrategyType(
+    std::string value, TrustRegionStrategyType* type);
 
 CERES_EXPORT const char* DoglegTypeToString(DoglegType type);
 CERES_EXPORT bool StringToDoglegType(std::string value, DoglegType* type);
@@ -487,41 +484,39 @@ CERES_EXPORT bool StringToMinimizerType(std::string value, MinimizerType* type);
 
 CERES_EXPORT const char* LineSearchDirectionTypeToString(
     LineSearchDirectionType type);
-CERES_EXPORT bool StringToLineSearchDirectionType(std::string value,
-                                     LineSearchDirectionType* type);
+CERES_EXPORT bool StringToLineSearchDirectionType(
+    std::string value, LineSearchDirectionType* type);
 
 CERES_EXPORT const char* LineSearchTypeToString(LineSearchType type);
-CERES_EXPORT bool StringToLineSearchType(std::string value, LineSearchType* type);
+CERES_EXPORT bool StringToLineSearchType(std::string value,
+                                         LineSearchType* type);
 
 CERES_EXPORT const char* NonlinearConjugateGradientTypeToString(
     NonlinearConjugateGradientType type);
 CERES_EXPORT bool StringToNonlinearConjugateGradientType(
-    std::string value,
-    NonlinearConjugateGradientType* type);
+    std::string value, NonlinearConjugateGradientType* type);
 
 CERES_EXPORT const char* LineSearchInterpolationTypeToString(
     LineSearchInterpolationType type);
 CERES_EXPORT bool StringToLineSearchInterpolationType(
-    std::string value,
-    LineSearchInterpolationType* type);
+    std::string value, LineSearchInterpolationType* type);
 
 CERES_EXPORT const char* CovarianceAlgorithmTypeToString(
     CovarianceAlgorithmType type);
 CERES_EXPORT bool StringToCovarianceAlgorithmType(
-    std::string value,
-    CovarianceAlgorithmType* type);
+    std::string value, CovarianceAlgorithmType* type);
 
 CERES_EXPORT const char* NumericDiffMethodTypeToString(
     NumericDiffMethodType type);
-CERES_EXPORT bool StringToNumericDiffMethodType(
-    std::string value,
-    NumericDiffMethodType* type);
+CERES_EXPORT bool StringToNumericDiffMethodType(std::string value,
+                                                NumericDiffMethodType* type);
 
 CERES_EXPORT const char* LoggingTypeToString(LoggingType type);
 CERES_EXPORT bool StringtoLoggingType(std::string value, LoggingType* type);
 
 CERES_EXPORT const char* DumpFormatTypeToString(DumpFormatType type);
-CERES_EXPORT bool StringtoDumpFormatType(std::string value, DumpFormatType* type);
+CERES_EXPORT bool StringtoDumpFormatType(std::string value,
+                                         DumpFormatType* type);
 CERES_EXPORT bool StringtoDumpFormatType(std::string value, LoggingType* type);
 
 CERES_EXPORT const char* TerminationTypeToString(TerminationType type);
diff --git a/extern/ceres/include/ceres/version.h b/extern/ceres/include/ceres/version.h
index 50aa2124e75..a76cc1099c5 100644
--- a/extern/ceres/include/ceres/version.h
+++ b/extern/ceres/include/ceres/version.h
@@ -41,8 +41,9 @@
 #define CERES_TO_STRING(x) CERES_TO_STRING_HELPER(x)
 
 // The Ceres version as a string; for example "1.9.0".
-#define CERES_VERSION_STRING CERES_TO_STRING(CERES_VERSION_MAJOR) "." \
-                             CERES_TO_STRING(CERES_VERSION_MINOR) "." \
-                             CERES_TO_STRING(CERES_VERSION_REVISION)
+#define CERES_VERSION_STRING                                    \
+  CERES_TO_STRING(CERES_VERSION_MAJOR)                          \
+  "." CERES_TO_STRING(CERES_VERSION_MINOR) "." CERES_TO_STRING( \
+      CERES_VERSION_REVISION)
 
 #endif  // CERES_PUBLIC_VERSION_H_