Merge branch 'master' into asset-uuid--archivedasset-uuid--archived

1 files changed, 10 insertions, 4 deletions

diff --git a/extern/ceres/internal/ceres/coordinate_descent_minimizer.h b/extern/ceres/internal/ceres/coordinate_descent_minimizer.h
index 25ea04ce622..7d17d53eb0f 100644
--- a/extern/ceres/internal/ceres/coordinate_descent_minimizer.h
+++ b/extern/ceres/internal/ceres/coordinate_descent_minimizer.h
@@ -34,6 +34,7 @@
 #include <string>
 #include <vector>
 
+#include "ceres/context_impl.h"
 #include "ceres/evaluator.h"
 #include "ceres/minimizer.h"
 #include "ceres/problem_impl.h"
@@ -57,6 +58,8 @@ class LinearSolver;
 // program are constant.
 class CoordinateDescentMinimizer : public Minimizer {
  public:
+  explicit CoordinateDescentMinimizer(ContextImpl* context);
+
   bool Init(const Program& program,
             const ProblemImpl::ParameterMap& parameter_map,
             const ParameterBlockOrdering& ordering,
@@ -64,9 +67,10 @@ class CoordinateDescentMinimizer : public Minimizer {
 
   // Minimizer interface.
   virtual ~CoordinateDescentMinimizer();
-  virtual void Minimize(const Minimizer::Options& options,
-                        double* parameters,
-                        Solver::Summary* summary);
+
+  void Minimize(const Minimizer::Options& options,
+                double* parameters,
+                Solver::Summary* summary) final;
 
   // Verify that each group in the ordering forms an independent set.
   static bool IsOrderingValid(const Program& program,
@@ -86,7 +90,7 @@ class CoordinateDescentMinimizer : public Minimizer {
              Solver::Summary* summary);
 
   std::vector<ParameterBlock*> parameter_blocks_;
-  std::vector<std::vector<ResidualBlock*> > residual_blocks_;
+  std::vector<std::vector<ResidualBlock*>> residual_blocks_;
   // The optimization is performed in rounds. In each round all the
   // parameter blocks that form one independent set are optimized in
   // parallel. This array, marks the boundaries of the independent
@@ -94,6 +98,8 @@ class CoordinateDescentMinimizer : public Minimizer {
   std::vector<int> independent_set_offsets_;
 
   Evaluator::Options evaluator_options_;
+
+  ContextImpl* context_;
 };
 
 }  // namespace internal