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, 11 insertions, 79 deletions

diff --git a/extern/ceres/internal/ceres/dense_sparse_matrix.cc b/extern/ceres/internal/ceres/dense_sparse_matrix.cc
index 53207fe300e..8b967f2ade7 100644
--- a/extern/ceres/internal/ceres/dense_sparse_matrix.cc
+++ b/extern/ceres/internal/ceres/dense_sparse_matrix.cc
@@ -31,9 +31,10 @@
 #include "ceres/dense_sparse_matrix.h"
 
 #include <algorithm>
+#include <utility>
 
 #include "ceres/internal/eigen.h"
-#include "ceres/internal/port.h"
+#include "ceres/internal/export.h"
 #include "ceres/triplet_sparse_matrix.h"
 #include "glog/logging.h"
 
@@ -41,28 +42,10 @@ namespace ceres {
 namespace internal {
 
 DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
-    : has_diagonal_appended_(false), has_diagonal_reserved_(false) {
-  m_.resize(num_rows, num_cols);
-  m_.setZero();
-}
-
-DenseSparseMatrix::DenseSparseMatrix(int num_rows,
-                                     int num_cols,
-                                     bool reserve_diagonal)
-    : has_diagonal_appended_(false), has_diagonal_reserved_(reserve_diagonal) {
-  if (reserve_diagonal) {
-    // Allocate enough space for the diagonal.
-    m_.resize(num_rows + num_cols, num_cols);
-  } else {
-    m_.resize(num_rows, num_cols);
-  }
-  m_.setZero();
-}
+    : m_(Matrix(num_rows, num_cols)) {}
 
 DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
-    : m_(Eigen::MatrixXd::Zero(m.num_rows(), m.num_cols())),
-      has_diagonal_appended_(false),
-      has_diagonal_reserved_(false) {
+    : m_(Matrix::Zero(m.num_rows(), m.num_cols())) {
   const double* values = m.values();
   const int* rows = m.rows();
   const int* cols = m.cols();
@@ -73,8 +56,7 @@ DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
   }
 }
 
-DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m)
-    : m_(m), has_diagonal_appended_(false), has_diagonal_reserved_(false) {}
+DenseSparseMatrix::DenseSparseMatrix(Matrix m) : m_(std::move(m)) {}
 
 void DenseSparseMatrix::SetZero() { m_.setZero(); }
 
@@ -96,72 +78,22 @@ void DenseSparseMatrix::ScaleColumns(const double* scale) {
 }
 
 void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
-  *dense_matrix = m_.block(0, 0, num_rows(), num_cols());
+  *dense_matrix = m_;
 }
 
-void DenseSparseMatrix::AppendDiagonal(double* d) {
-  CHECK(!has_diagonal_appended_);
-  if (!has_diagonal_reserved_) {
-    ColMajorMatrix tmp = m_;
-    m_.resize(m_.rows() + m_.cols(), m_.cols());
-    m_.setZero();
-    m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
-    has_diagonal_reserved_ = true;
-  }
-
-  m_.bottomLeftCorner(m_.cols(), m_.cols()) =
-      ConstVectorRef(d, m_.cols()).asDiagonal();
-  has_diagonal_appended_ = true;
-}
-
-void DenseSparseMatrix::RemoveDiagonal() {
-  CHECK(has_diagonal_appended_);
-  has_diagonal_appended_ = false;
-  // Leave the diagonal reserved.
-}
-
-int DenseSparseMatrix::num_rows() const {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return m_.rows() - m_.cols();
-  }
-  return m_.rows();
-}
+int DenseSparseMatrix::num_rows() const { return m_.rows(); }
 
 int DenseSparseMatrix::num_cols() const { return m_.cols(); }
 
-int DenseSparseMatrix::num_nonzeros() const {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return (m_.rows() - m_.cols()) * m_.cols();
-  }
-  return m_.rows() * m_.cols();
-}
+int DenseSparseMatrix::num_nonzeros() const { return m_.rows() * m_.cols(); }
 
-ConstColMajorMatrixRef DenseSparseMatrix::matrix() const {
-  return ConstColMajorMatrixRef(
-      m_.data(),
-      ((has_diagonal_reserved_ && !has_diagonal_appended_)
-           ? m_.rows() - m_.cols()
-           : m_.rows()),
-      m_.cols(),
-      Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
-}
+const Matrix& DenseSparseMatrix::matrix() const { return m_; }
 
-ColMajorMatrixRef DenseSparseMatrix::mutable_matrix() {
-  return ColMajorMatrixRef(m_.data(),
-                           ((has_diagonal_reserved_ && !has_diagonal_appended_)
-                                ? m_.rows() - m_.cols()
-                                : m_.rows()),
-                           m_.cols(),
-                           Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1));
-}
+Matrix* DenseSparseMatrix::mutable_matrix() { return &m_; }
 
 void DenseSparseMatrix::ToTextFile(FILE* file) const {
   CHECK(file != nullptr);
-  const int active_rows = (has_diagonal_reserved_ && !has_diagonal_appended_)
-                              ? (m_.rows() - m_.cols())
-                              : m_.rows();
-
-  for (int r = 0; r < active_rows; ++r) {
+  for (int r = 0; r < m_.rows(); ++r) {
     for (int c = 0; c < m_.cols(); ++c) {
       fprintf(file, "% 10d % 10d %17f\n", r, c, m_(r, c));
     }