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, 24 insertions, 19 deletions

diff --git a/extern/ceres/internal/ceres/schur_complement_solver.h b/extern/ceres/internal/ceres/schur_complement_solver.h
index 3bfa22f22e4..859a086cdf4 100644
--- a/extern/ceres/internal/ceres/schur_complement_solver.h
+++ b/extern/ceres/internal/ceres/schur_complement_solver.h
@@ -40,7 +40,9 @@
 #include "ceres/block_random_access_matrix.h"
 #include "ceres/block_sparse_matrix.h"
 #include "ceres/block_structure.h"
-#include "ceres/internal/port.h"
+#include "ceres/dense_cholesky.h"
+#include "ceres/internal/config.h"
+#include "ceres/internal/export.h"
 #include "ceres/linear_solver.h"
 #include "ceres/schur_eliminator.h"
 #include "ceres/types.h"
@@ -50,6 +52,8 @@
 #include "Eigen/SparseCholesky"
 #endif
 
+#include "ceres/internal/disable_warnings.h"
+
 namespace ceres {
 namespace internal {
 
@@ -107,20 +111,12 @@ class SparseCholesky;
 // set to DENSE_SCHUR and SPARSE_SCHUR
 // respectively. LinearSolver::Options::elimination_groups[0] should
 // be at least 1.
-class CERES_EXPORT_INTERNAL SchurComplementSolver
-    : public BlockSparseMatrixSolver {
+class CERES_NO_EXPORT SchurComplementSolver : public BlockSparseMatrixSolver {
  public:
-  explicit SchurComplementSolver(const LinearSolver::Options& options)
-      : options_(options) {
-    CHECK_GT(options.elimination_groups.size(), 1);
-    CHECK_GT(options.elimination_groups[0], 0);
-    CHECK(options.context != NULL);
-  }
+  explicit SchurComplementSolver(const LinearSolver::Options& options);
   SchurComplementSolver(const SchurComplementSolver&) = delete;
   void operator=(const SchurComplementSolver&) = delete;
 
-  // LinearSolver methods
-  virtual ~SchurComplementSolver() {}
   LinearSolver::Summary SolveImpl(
       BlockSparseMatrix* A,
       const double* b,
@@ -130,10 +126,14 @@ class CERES_EXPORT_INTERNAL SchurComplementSolver
  protected:
   const LinearSolver::Options& options() const { return options_; }
 
+  void set_lhs(std::unique_ptr<BlockRandomAccessMatrix> lhs) {
+    lhs_ = std::move(lhs);
+  }
   const BlockRandomAccessMatrix* lhs() const { return lhs_.get(); }
-  void set_lhs(BlockRandomAccessMatrix* lhs) { lhs_.reset(lhs); }
+  BlockRandomAccessMatrix* mutable_lhs() { return lhs_.get(); }
+
+  void set_rhs(std::unique_ptr<double[]> rhs) { rhs_ = std::move(rhs); }
   const double* rhs() const { return rhs_.get(); }
-  void set_rhs(double* rhs) { rhs_.reset(rhs); }
 
  private:
   virtual void InitStorage(const CompressedRowBlockStructure* bs) = 0;
@@ -149,30 +149,33 @@ class CERES_EXPORT_INTERNAL SchurComplementSolver
 };
 
 // Dense Cholesky factorization based solver.
-class DenseSchurComplementSolver : public SchurComplementSolver {
+class CERES_NO_EXPORT DenseSchurComplementSolver final
+    : public SchurComplementSolver {
  public:
-  explicit DenseSchurComplementSolver(const LinearSolver::Options& options)
-      : SchurComplementSolver(options) {}
+  explicit DenseSchurComplementSolver(const LinearSolver::Options& options);
   DenseSchurComplementSolver(const DenseSchurComplementSolver&) = delete;
   void operator=(const DenseSchurComplementSolver&) = delete;
 
-  virtual ~DenseSchurComplementSolver() {}
+  ~DenseSchurComplementSolver() override;
 
  private:
   void InitStorage(const CompressedRowBlockStructure* bs) final;
   LinearSolver::Summary SolveReducedLinearSystem(
       const LinearSolver::PerSolveOptions& per_solve_options,
       double* solution) final;
+
+  std::unique_ptr<DenseCholesky> cholesky_;
 };
 
 // Sparse Cholesky factorization based solver.
-class SparseSchurComplementSolver : public SchurComplementSolver {
+class CERES_NO_EXPORT SparseSchurComplementSolver final
+    : public SchurComplementSolver {
  public:
   explicit SparseSchurComplementSolver(const LinearSolver::Options& options);
   SparseSchurComplementSolver(const SparseSchurComplementSolver&) = delete;
   void operator=(const SparseSchurComplementSolver&) = delete;
 
-  virtual ~SparseSchurComplementSolver();
+  ~SparseSchurComplementSolver() override;
 
  private:
   void InitStorage(const CompressedRowBlockStructure* bs) final;
@@ -191,4 +194,6 @@ class SparseSchurComplementSolver : public SchurComplementSolver {
 }  // namespace internal
 }  // namespace ceres
 
+#include "ceres/internal/reenable_warnings.h"
+
 #endif  // CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_