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, 36 insertions, 10 deletions

diff --git a/extern/ceres/internal/ceres/gradient_problem.cc b/extern/ceres/internal/ceres/gradient_problem.cc
index ba33fbc90f8..cdd472fe87f 100644
--- a/extern/ceres/internal/ceres/gradient_problem.cc
+++ b/extern/ceres/internal/ceres/gradient_problem.cc
@@ -30,49 +30,75 @@
 
 #include "ceres/gradient_problem.h"
 
+#include <memory>
+
 #include "ceres/local_parameterization.h"
+#include "ceres/manifold_adapter.h"
 #include "glog/logging.h"
 
 namespace ceres {
 
 GradientProblem::GradientProblem(FirstOrderFunction* function)
     : function_(function),
-      parameterization_(
-          new IdentityParameterization(function_->NumParameters())),
-      scratch_(new double[function_->NumParameters()]) {}
+      manifold_(std::make_unique<EuclideanManifold<DYNAMIC>>(
+          function_->NumParameters())),
+      scratch_(new double[function_->NumParameters()]) {
+  CHECK(function != nullptr);
+}
 
 GradientProblem::GradientProblem(FirstOrderFunction* function,
                                  LocalParameterization* parameterization)
     : function_(function),
       parameterization_(parameterization),
       scratch_(new double[function_->NumParameters()]) {
-  CHECK_EQ(function_->NumParameters(), parameterization_->GlobalSize());
+  CHECK(function != nullptr);
+  if (parameterization != nullptr) {
+    manifold_ =
+        std::make_unique<internal::ManifoldAdapter>(parameterization_.get());
+  } else {
+    manifold_ = std::make_unique<EuclideanManifold<DYNAMIC>>(
+        function_->NumParameters());
+  }
+  CHECK_EQ(function_->NumParameters(), manifold_->AmbientSize());
+}
+
+GradientProblem::GradientProblem(FirstOrderFunction* function,
+                                 Manifold* manifold)
+    : function_(function), scratch_(new double[function_->NumParameters()]) {
+  CHECK(function != nullptr);
+  if (manifold != nullptr) {
+    manifold_.reset(manifold);
+  } else {
+    manifold_ = std::make_unique<EuclideanManifold<DYNAMIC>>(
+        function_->NumParameters());
+  }
+  CHECK_EQ(function_->NumParameters(), manifold_->AmbientSize());
 }
 
 int GradientProblem::NumParameters() const {
   return function_->NumParameters();
 }
 
-int GradientProblem::NumLocalParameters() const {
-  return parameterization_->LocalSize();
+int GradientProblem::NumTangentParameters() const {
+  return manifold_->TangentSize();
 }
 
 bool GradientProblem::Evaluate(const double* parameters,
                                double* cost,
                                double* gradient) const {
-  if (gradient == NULL) {
-    return function_->Evaluate(parameters, cost, NULL);
+  if (gradient == nullptr) {
+    return function_->Evaluate(parameters, cost, nullptr);
   }
 
   return (function_->Evaluate(parameters, cost, scratch_.get()) &&
-          parameterization_->MultiplyByJacobian(
+          manifold_->RightMultiplyByPlusJacobian(
               parameters, 1, scratch_.get(), gradient));
 }
 
 bool GradientProblem::Plus(const double* x,
                            const double* delta,
                            double* x_plus_delta) const {
-  return parameterization_->Plus(x, delta, x_plus_delta);
+  return manifold_->Plus(x, delta, x_plus_delta);
 }
 
 }  // namespace ceres