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, 60 insertions, 0 deletions

diff --git a/extern/ceres/internal/ceres/manifold_adapter.h b/extern/ceres/internal/ceres/manifold_adapter.h
new file mode 100644
index 00000000000..9a21456a731
--- /dev/null
+++ b/extern/ceres/internal/ceres/manifold_adapter.h
@@ -0,0 +1,60 @@
+#include "ceres/internal/export.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/manifold.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// Adapter to wrap LocalParameterization and make them look like Manifolds.
+//
+// ManifoldAdapter NEVER takes ownership of local_parameterization.
+class CERES_NO_EXPORT ManifoldAdapter final : public Manifold {
+ public:
+  explicit ManifoldAdapter(const LocalParameterization* local_parameterization)
+      : local_parameterization_(local_parameterization) {
+    CHECK(local_parameterization != nullptr);
+  }
+
+  bool Plus(const double* x,
+            const double* delta,
+            double* x_plus_delta) const override {
+    return local_parameterization_->Plus(x, delta, x_plus_delta);
+  }
+
+  bool PlusJacobian(const double* x, double* jacobian) const override {
+    return local_parameterization_->ComputeJacobian(x, jacobian);
+  }
+
+  bool RightMultiplyByPlusJacobian(const double* x,
+                                   const int num_rows,
+                                   const double* ambient_matrix,
+                                   double* tangent_matrix) const override {
+    return local_parameterization_->MultiplyByJacobian(
+        x, num_rows, ambient_matrix, tangent_matrix);
+  }
+
+  bool Minus(const double* y, const double* x, double* delta) const override {
+    LOG(FATAL) << "This should never be called.";
+    return false;
+  }
+
+  bool MinusJacobian(const double* x, double* jacobian) const override {
+    LOG(FATAL) << "This should never be called.";
+    return false;
+  }
+
+  int AmbientSize() const override {
+    return local_parameterization_->GlobalSize();
+  }
+
+  int TangentSize() const override {
+    return local_parameterization_->LocalSize();
+  }
+
+ private:
+  const LocalParameterization* local_parameterization_;
+};
+
+}  // namespace internal
+}  // namespace ceres