Update Ceres to 1.5RC3

It brings optimization of DENSE_QR and DENSE_SCHUR solvers.

44 files changed, 520 insertions, 458 deletions

diff --git a/extern/libmv/third_party/ceres/ChangeLog b/extern/libmv/third_party/ceres/ChangeLog
index ebfb771be02..67a1cac9d76 100644
--- a/extern/libmv/third_party/ceres/ChangeLog
+++ b/extern/libmv/third_party/ceres/ChangeLog
@@ -1,3 +1,251 @@
+commit e7148795c3f2ce1f6625a7c81545707a6cbde3eb
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Mar 4 10:17:30 2013 -0800
+
+    Fix a memory leak in CXSparse::SolveCholesky.
+    
+    Thanks to Alexander Mordvintsev for reporting this.
+    
+    Change-Id: I5c6be4d3d28f062e83a1ad41cb8089c19362a005
+
+commit 480f9b8551c02c429bc027197f3d868c5cc522c9
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Sun Mar 3 20:15:22 2013 -0800
+
+    Add gerrit instructions to the docs.
+    
+    Change-Id: Ic98f20273f3ccbaeb8b4ca00c4ce0042a0d262f8
+
+commit 7c60b5c2c6170f0f81a29dbaa2ca7d8031db843b
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Sun Mar 3 18:28:02 2013 -0800
+
+    version history update
+    
+    Change-Id: Ia92caeb0f6659667ce1e56eefd0e3c87b3f6e538
+
+commit a363a7b69c7b97e17ad671ba1aee30f201eafdd1
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Sun Mar 3 18:06:00 2013 -0800
+
+    Multithread DENSE_SCHUR
+    
+    Replace the global lock in BlockRandomAccessDenseMatrix
+    with a per cell lock.
+    
+    Change-Id: Iddbe38616157b6e0d3770eede3335a056c3ba18c
+
+commit 31730ef55df802d1e251edab3bac3c0cdcb30647
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Thu Feb 28 11:20:28 2013 -0800
+
+    DenseSparseMatrix is now column-major.
+    
+    1. Introduce new typdefs in eigen.h to allow for column
+       major matrices.
+    
+    2. Clean up old unused typedefs, and the aligned typedefs
+       since they do not actually add any real performance.
+    
+    3. Made eigen.h conform to the google style guide by removing
+       the using directives. They were polluting the ceres namespace.
+    
+    4. Made the template specialization generator work again.
+    
+    Change-Id: Ic2268c784534b737ebd6e1a043e2a327adaeca37
+
+commit f8e43f7f2724c5413015e1f113ce860ee8b30428
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Feb 27 08:55:20 2013 -0800
+
+    version history update
+    
+    Change-Id: Ibd412a9e5beac3b3ac3e15b26fb11aa061956095
+
+commit fef82b3a7af1e44f18f5343601fb19a4dd6f89ad
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Wed Feb 27 10:44:12 2013 +0000
+
+    Bugfix - commenting-out unused member which results in build error on OS X with latest Xcode.
+    
+    - Build error due to -Werror,-Wunused-private-field clang args.
+    - Raised with gtest group (as it also occurs with latest gtest:master but for a different
+      variable) with patch, but they don't want to fix for compatibility with legacy compilers/OS
+      see here: https://groups.google.com/forum/?fromgroups=#!topic/googletestframework/S1KLl2jkzws
+    
+    Change-Id: I99984bcd9d07f6eb0e3fac58e27ddf0ac9e54265
+
+commit 0bc3540b66cf9de4d4a317c6a760849aa66d414e
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Feb 27 08:46:48 2013 -0800
+
+    Version history update
+    
+    Change-Id: I6f79dd87e45bedf4bcf821e7b44f8b9553c39a7b
+
+commit b59ac43b9d1122da3d00882efa7c5d6833c06ea7
+Author: Alex Stewart <alexs.mac@gmail.com>
+Date:   Wed Feb 27 09:10:19 2013 +0000
+
+    Issue 83 fix: use correct pthread linker flags with clang.
+    
+    1. -lpthreads was previously added to the CMAKE_CXX_FLAGS which are
+    not passed to the linker thus linking would fail.
+    2. Clang would emit a warning about -lpthreads being added to a
+    build instruction with -c (compile only).
+    
+    This patch fixes both of these issues by adding -lpthreads to the
+    linker flags (and removes them from the CXX flags).
+    
+    Change-Id: I5e54de3ab7eced177aa31f311926893598af5b56
+
+commit 6fb1024ed5b197da261f71d1bb02716661da2fff
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Feb 26 22:20:18 2013 -0800
+
+    Fix a small bug in evaluator.h
+    
+    Change-Id: I2c4b8637e0ac8645721109f8b6bb2396ce8bb37b
+
+commit 039ff07dd1a02e6c9cff335551f05bfe8269224b
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Feb 26 09:15:39 2013 -0800
+
+    Evaluate ResidualBlocks without LossFunction if needed.
+    
+    1. Add the ability to evaluate the problem without loss function.
+    2. Remove static Evaluator::Evaluate
+    3. Refactor the common code from problem_test.cc and
+       evaluator_test.cc into evaluator_test_utils.cc
+    
+    Change-Id: I1aa841580afe91d288fbb65288b0ffdd1e43e827
+
+commit c3fd3b960e489348d5b2c8b8f0167760e52ecbd9
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Tue Feb 26 00:30:35 2013 -0500
+
+    Only use cmake28 macro for RHEL6
+    
+    This makes it possible to use the same spec to build on Fedora. It drops any
+    chance of building on RHEL5, but I doubt that was possible anyway.
+    
+    Change-Id: Ia956eb6416504e520962ec2f617e03b40ca18203
+
+commit b73148b9f38fe41032e696436566b78043a368db
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Mon Feb 25 02:34:00 2013 -0500
+
+    Remove -Wno-return-type-c-linkage option when using gcc
+    
+    Only use this option when compiling with CLang which supports it.
+    
+    Change-Id: I8555c16e82d61302f6a43672d0d63e5d4800c6b6
+
+commit ba9442160dabf612a1dc51baf098937459b4b5ca
+Author: Keir Mierle <mierle@gmail.com>
+Date:   Mon Feb 25 12:46:44 2013 -0800
+
+    Add the number of effective parameters to the final report.
+    
+    Here is an example report, obtained by running:
+    
+      bin/Debug/bundle_adjuster \
+      --input=../ceres-solver/data/problem-16-22106-pre.txt \
+      --linear_solver=iterative_schur \
+      --num_iterations=1 \
+      --alsologtostderr \
+      --use_local_parameterization \
+      --use_quaternions
+    
+    Note that effective parameters is less than parameters by 16, which is the
+    number of cameras. In this case the local parameterization has a 3 dimensional
+    tangent space for the 4-dimensional quaternions.
+    
+    Ceres Solver Report
+    -------------------
+                                         Original                  Reduced
+    Parameter blocks                        22138                    22138
+    Parameters                              66478                    66478
+    Effective parameters                    66462                    66462
+    Residual blocks                         83718                    83718
+    Residual                               167436                   167436
+    
+    Minimizer                        TRUST_REGION
+    Trust Region Strategy     LEVENBERG_MARQUARDT
+    
+                                            Given                     Used
+    Linear solver                 ITERATIVE_SCHUR          ITERATIVE_SCHUR
+    Preconditioner                         JACOBI                   JACOBI
+    Threads:                                    1                        1
+    Linear solver threads                       1                        1
+    Linear solver ordering              AUTOMATIC                22106, 32
+    
+    Cost:
+    Initial                          4.185660e+06
+    Final                            7.221647e+04
+    Change                           4.113443e+06
+    
+    Number of iterations:
+    Successful                                  1
+    Unsuccessful                                0
+    Total                                       1
+    
+    Time (in seconds):
+    Preprocessor                            0.697
+    
+      Residual Evaluations                  0.063
+      Jacobian Evaluations                 27.608
+      Linear Solver                        13.360
+    Minimizer                              43.973
+    
+    Postprocessor                           0.004
+    Total                                  44.756
+    
+    Termination:                   NO_CONVERGENCE
+    
+    Change-Id: I6b6b8ac24f71bd187e67d95651290917642be74f
+
+commit 36dc14ddf2fd53238c2ce21f172aa1989b31c0fd
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Feb 25 10:33:10 2013 -0800
+
+    Fix a clang warning
+    
+    Change-Id: I5ef32c6329f1f75efb30b16519b8de146a8339fa
+
+commit 931c309b2734329ec6e5f0b88ce4a0b488ac47e5
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Feb 25 09:46:21 2013 -0800
+
+    Cleanup based on comments by William Rucklidge
+    
+    Change-Id: If269ba8e388965a8ea32260fd6f17a133a19ab9b
+
+commit df36218c953e05d665df2cc96a6d7625e2307d97
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Fri Feb 15 18:28:11 2013 -0500
+
+    Add support for the CMake "LIB_SUFFIX" convention
+    
+    Allows `make install` to work correctly on e.g. 64-bit systems where the
+    native libraries are installed to /usr/lib64
+    
+    Change-Id: I71b4fae7b459c003cb5fac981278c668f2e29779
+
+commit 70701745b85fef7eeba2c978ae849fd48927699c
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Fri Feb 15 19:09:48 2013 -0500
+
+    Add RPM .spec file
+    
+    Tested on RHEL6.1 (with epel repository for dependencies).
+    
+    make_release checks that that the version string in the .spec file is in
+    sync with the rest of the project and reminds the user to bump the
+    release string if necessary and to build/upload the RPM package.
+    
+    Change-Id: I5f454f2a7301d1e0e120cb3c0e13a68d03bca917
+
 commit d2a5195b512164fec286c6a52b40d7766977caa3
 Author: Sameer Agarwal <sameeragarwal@google.com>
 Date:   Sun Feb 24 15:09:17 2013 -0800
@@ -377,196 +625,3 @@ Date:   Sat Feb 2 00:49:31 2013 -0800
     and coverage than the latex documentation now.
     
     Change-Id: I7ede3aa83b9b9ef25104caf331e5727b4f5beae5
-
-commit 71c8058478311ff9b3087360827e048dec5dd69a
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Jan 31 17:33:01 2013 -0800
-
-    Remove ExecutionSummary from Evaluator and LinearSolver
-    
-    Change-Id: If4dbaf516a8b14e0a79e1a2116ce66a99ed4a592
-
-commit fa1c31eee33051d6483bc90fa7b66c3664b23bf3
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Jan 29 17:24:54 2013 -0800
-
-    Correct the documentation for crs_matrix.h
-    
-    Thanks to Joydeep Biswas for reporting this.
-    
-    Change-Id: Iae5fc2274644aab40f2f922a671f65da15ae71fc
-
-commit bdd87c03ed1cbac62990bf79aa6faed0a132bba9
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Jan 29 16:24:31 2013 -0800
-
-    Add an ExecutionSummary object that the Evaluator and LinearSolver can use to
-    report execution statistics of all kinds.
-    
-    Currently a single map which maps arbitrary strings to doubles is supported,
-    which allows for precise timing information to be communicated.
-    
-    Change-Id: Ibd930aca5c9e6cae89bcfeffe9b13e2887644881
-
-commit a2fd9ca8beb5aa11fcc5d2b32e23f161edc93d28
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Jan 29 16:02:41 2013 -0800
-
-    Fix Android.mk
-    
-    Change-Id: I1093c2731283890d1f3792bf8e6741f448f1465d
-
-commit 977be7cac37316524038fa0168cc5994a5654acd
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Sat Jan 26 16:01:54 2013 -0800
-
-    Add support for reporting linear solver and inner iteration
-    orderings.
-    
-    Change-Id: I0588a4285e0925ce689e47bd48ddcc61ce596a1f
-
-commit 146b9acb4d5570da311fedb5222ad65fe12f233c
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Jan 21 16:16:58 2013 -0800
-
-    Update include/ceres.h to export headers.
-    Update the ABI version.
-    
-    Change-Id: I5c1c4f110cddc816bbb5a737634f55b4cbea98e1
-
-commit e837aeaf9e63936d745519fa53c726a2ca9d5822
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Jan 21 13:05:01 2013 -0800
-
-    Documentation update.
-    
-    Change-Id: Ica8681f4bb58c60349d0dae453c652f2522eebf6
-
-commit 2f0d7249ccedac8183e6e5a9cb45ca7c51bb6b41
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Jan 18 13:11:32 2013 -0800
-
-    NumericDiffFunctor.
-    
-    A wrapper class that takes a variadic functor evaluating a
-    function, numerically differentiates it and makes it available as a
-    templated functor so that it can be easily used as part of Ceres'
-    automatic differentiation framework.
-    
-    The tests for NumericDiffCostFunction and NumericDiffFunctor have
-    a lot of stuff that is common, so refactor them to reduce code.
-    
-    Change-Id: I83b01e58b05e575fb2530d15cbd611928298646a
-
-commit 2fc0ed6143ad499d6dc82d621ff5ec69170beb52
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Jan 15 11:34:10 2013 -0800
-
-    Change NumericDiffCostFunction to accept variadic functors.
-    
-    The interface for NumericDiffCostFunction and AutoDiffCostFunction
-    are not comparable. They both accept variadic functors.
-    
-    The change is backward compatible, as it still supports numeric
-    differentiation of CostFunction objects.
-    
-    Some refactoring of documentation and code in auto_diff_cost_function
-    and its relatives was also done to make things consistent.
-    
-    Change-Id: Ib5f230a1d4a85738eb187803b9c1cd7166bb3b92
-
-commit 9c5acce674e3ec1ba08509123ff519f106cc4348
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Sun Jan 13 22:14:12 2013 -0800
-
-    Add CostFunctionToFunctor.
-    
-    CostFunctionToFunctor wraps a CostFunction, and makes it available
-    as a templated functor that can be called from other templated
-    functors. This is useful for when one wants to mix automatic,
-    numeric and analytic differentiated functions.
-    
-    Also a bug fix in autodiff.h
-    
-    Change-Id: If8ba281a89fda976ef2ce10a5844a74c4ac7b84a
-
-commit c89ea4b9de588e2e2e82c54cd1c30cddb11454c5
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Wed Jan 9 16:09:35 2013 -0800
-
-    Minor corrections based on Jim Roseborough's comments
-    
-    Change-Id: I4a8c7a454ddf038a3ed2567c101f9aee582044bf
-
-commit 00c8a061929b912bda3cfd4615fb8688c246c969
-Author: Keir Mierle <mierle@gmail.com>
-Date:   Sat Dec 1 13:22:59 2012 -0800
-
-    Fix bug in DenseSparseMatrix::ToDenseMatrix().
-    
-    Change-Id: I74a1a03149d74fbc4268ec3ce9d20e09746a7227
-
-commit bcac4de5b75cae210c5557c81239222176d2709a
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Nov 30 23:11:26 2012 -0800
-
-    Speedup corrector.cc
-    
-    Add a specialization for the common case where the residual block
-    outputs exactly one residual.
-    
-    The matrix routines used by Corrector can be then specialized to
-    a scalar and be made considerably faster.
-    
-    For denoising upto 400% speedup is observed.
-    
-    Change-Id: I8e3f24b8ba41caa8e62ad97c5f5e96ab6ea47150
-
-commit 9883fc396b2913fbc597afa795c39d365229c299
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Nov 30 12:32:43 2012 -0800
-
-    Refactoring of the LineSearchMinimizer.
-    
-    1. New LineSearchDirection interface, factory and instances.
-    2. Cleanup of LineSearchMinimizer to use the State and Direction objects.
-    3. LBFGS -> LowRankInverseHessian.
-    4. Refactoring of the RunCallbacks function and share it across
-       LineSearchMinimizer and TrustRegionMinimizer.
-    
-    Change-Id: I19354afc6f5d6567b28918710c2012dc30ef8f32
-
-commit 2293cb5bc96a5b317ed4ca52aa3494cadecbc07c
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Nov 29 16:00:18 2012 -0800
-
-    Add missing documentation to solver.h
-    
-    Change-Id: I86e7c4f1f6cc1e15d5eb2cf23e73c32d94d458c1
-
-commit aed99615c017839df09c98f518dcc0a59a9819ec
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Nov 29 10:33:19 2012 -0800
-
-    Expose lbfgs rank in solver.h
-    
-    Change-Id: Ibc184b1a2f94a4057fa6569d539ca3a55d6d6098
-
-commit 1afd498f50ef520868c18a0f26b55409d8471ceb
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Nov 29 10:28:11 2012 -0800
-
-    String to and from enum conversion routines.
-    
-    Update types.h/cc with stringication and unstringication
-    routines for the newly introduced enums.
-    
-    Change-Id: I0fe2842b5b1c75ba351f4ab87ec9fa60af2f9ed2
-
-commit 3e8d192f2871bcf6d5f248c119c8a6eef19186d3
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Wed Nov 28 17:20:22 2012 -0800
-
-    Add a rough implementation of LBFGS.
-    
-    Change-Id: I2bc816adfe0c02773a23035ea31de3cddc1322a4
diff --git a/extern/libmv/third_party/ceres/include/ceres/dynamic_autodiff_cost_function.h b/extern/libmv/third_party/ceres/include/ceres/dynamic_autodiff_cost_function.h
index 861164a8253..e4549c54b43 100644
--- a/extern/libmv/third_party/ceres/include/ceres/dynamic_autodiff_cost_function.h
+++ b/extern/libmv/third_party/ceres/include/ceres/dynamic_autodiff_cost_function.h
@@ -78,7 +78,7 @@ template <typename CostFunctor, int Stride = 4>
 class DynamicAutoDiffCostFunction : public CostFunction {
  public:
   explicit DynamicAutoDiffCostFunction(CostFunctor* functor)
-  : functor_(functor) {}
+    : functor_(functor) {}
 
   virtual ~DynamicAutoDiffCostFunction() {}
 
diff --git a/extern/libmv/third_party/ceres/include/ceres/internal/eigen.h b/extern/libmv/third_party/ceres/include/ceres/internal/eigen.h
index be76f9eff98..85df54b8f99 100644
--- a/extern/libmv/third_party/ceres/include/ceres/internal/eigen.h
+++ b/extern/libmv/third_party/ceres/include/ceres/internal/eigen.h
@@ -35,27 +35,40 @@
 
 namespace ceres {
 
-using Eigen::Dynamic;
-using Eigen::RowMajor;
-
-typedef Eigen::Matrix<double, Dynamic, 1> Vector;
-typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::RowMajor> Matrix;
 typedef Eigen::Map<Vector> VectorRef;
 typedef Eigen::Map<Matrix> MatrixRef;
-typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
 typedef Eigen::Map<const Vector> ConstVectorRef;
-typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
 typedef Eigen::Map<const Matrix> ConstMatrixRef;
 
+// Column major matrices for DenseSparseMatrix/DenseQRSolver
+typedef Eigen::Matrix<double,
+                      Eigen::Dynamic,
+                      Eigen::Dynamic,
+                      Eigen::ColMajor> ColMajorMatrix;
+
+typedef Eigen::Map<ColMajorMatrix, 0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
+
+typedef Eigen::Map<const ColMajorMatrix,
+                   0,
+                   Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
+
+
+
 // C++ does not support templated typdefs, thus the need for this
 // struct so that we can support statically sized Matrix and Maps.
 template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
 struct EigenTypes {
-  typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
+  typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
   Matrix;
 
   typedef Eigen::Map<
-    Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+    Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
   MatrixRef;
 
   typedef Eigen::Matrix <double, num_rows, 1>
@@ -67,7 +80,7 @@ struct EigenTypes {
 
 
   typedef Eigen::Map<
-    const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+    const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
   ConstMatrixRef;
 
   typedef Eigen::Map <
diff --git a/extern/libmv/third_party/ceres/include/ceres/problem.h b/extern/libmv/third_party/ceres/include/ceres/problem.h
index bccb329dc55..b1ccbab5dbd 100644
--- a/extern/libmv/third_party/ceres/include/ceres/problem.h
+++ b/extern/libmv/third_party/ceres/include/ceres/problem.h
@@ -331,7 +331,8 @@ class Problem {
   // Options struct to control Problem::Evaluate.
   struct EvaluateOptions {
     EvaluateOptions()
-        : num_threads(1) {
+        : apply_loss_function(true),
+          num_threads(1) {
     }
 
     // The set of parameter blocks for which evaluation should be
@@ -345,7 +346,7 @@ class Problem {
     // problem.
     //
     // NOTE: This vector should contain the same pointers as the ones
-    // used to add parameter blocks to the Problem. These parmeter
+    // used to add parameter blocks to the Problem. These parameter
     // block should NOT point to new memory locations. Bad things will
     // happen otherwise.
     vector<double*> parameter_blocks;
@@ -360,6 +361,15 @@ class Problem {
     // they were added to the problem. But, this may change if the
     // user removes any residual blocks from the problem.
     vector<ResidualBlockId> residual_blocks;
+
+    // Even though the residual blocks in the problem may contain loss
+    // functions, setting apply_loss_function to false will turn off
+    // the application of the loss function to the output of the cost
+    // function. This is of use for example if the user wishes to
+    // analyse the solution quality by studying the distribution of
+    // residuals before and after the solve.
+    bool apply_loss_function;
+
     int num_threads;
   };
 
@@ -390,7 +400,7 @@ class Problem {
   // the gradient vector (and the number of columns in the jacobian)
   // is the sum of the sizes of all the parameter blocks. If a
   // parameter block has a local parameterization, then it contributes
-  // "LocalSize" entries to the gradient vecto (and the number of
+  // "LocalSize" entries to the gradient vector (and the number of
   // columns in the jacobian).
   bool Evaluate(const EvaluateOptions& options,
                 double* cost,
diff --git a/extern/libmv/third_party/ceres/include/ceres/solver.h b/extern/libmv/third_party/ceres/include/ceres/solver.h
index 122870c86c8..8c2ff32d80b 100644
--- a/extern/libmv/third_party/ceres/include/ceres/solver.h
+++ b/extern/libmv/third_party/ceres/include/ceres/solver.h
@@ -611,11 +611,13 @@ class Solver {
     // Preprocessor summary.
     int num_parameter_blocks;
     int num_parameters;
+    int num_effective_parameters;
     int num_residual_blocks;
     int num_residuals;
 
     int num_parameter_blocks_reduced;
     int num_parameters_reduced;
+    int num_effective_parameters_reduced;
     int num_residual_blocks_reduced;
     int num_residuals_reduced;
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.cc b/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.cc
index aedfc745f22..e5822792fa1 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.cc
@@ -40,16 +40,21 @@ namespace internal {
 
 BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
     const vector<int>& blocks) {
-  block_layout_.resize(blocks.size(), 0);
+  const int num_blocks = blocks.size();
+  block_layout_.resize(num_blocks, 0);
   num_rows_ = 0;
-  for (int i = 0; i < blocks.size(); ++i) {
+  for (int i = 0; i < num_blocks; ++i) {
     block_layout_[i] = num_rows_;
     num_rows_ += blocks[i];
   }
 
   values_.reset(new double[num_rows_ * num_rows_]);
-  CHECK_NOTNULL(values_.get());
-  cell_info_.values = values_.get();
+
+  cell_infos_.reset(new CellInfo[num_blocks * num_blocks]);
+  for (int i = 0; i < num_blocks * num_blocks; ++i) {
+    cell_infos_[i].values = values_.get();
+  }
+
   SetZero();
 }
 
@@ -68,7 +73,7 @@ CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
   *col = block_layout_[col_block_id];
   *row_stride = num_rows_;
   *col_stride = num_rows_;
-  return &cell_info_;
+  return &cell_infos_[row_block_id * block_layout_.size() + col_block_id];
 }
 
 // Assume that the user does not hold any locks on any cell blocks
diff --git a/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.h b/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.h
index 9f27a4c30f3..d160fd96013 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/block_random_access_dense_matrix.h
@@ -84,10 +84,10 @@ class BlockRandomAccessDenseMatrix : public BlockRandomAccessMatrix {
   double* mutable_values() { return values_.get(); }
 
  private:
-  CellInfo cell_info_;
   int num_rows_;
   vector<int> block_layout_;
   scoped_array<double> values_;
+  scoped_array<CellInfo> cell_infos_;
 
   CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDenseMatrix);
 };
diff --git a/extern/libmv/third_party/ceres/internal/ceres/cxsparse.cc b/extern/libmv/third_party/ceres/internal/ceres/cxsparse.cc
index 19fa17cc37d..3fbc2717f64 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/cxsparse.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/cxsparse.cc
@@ -57,6 +57,7 @@ bool CXSparse::SolveCholesky(cs_di* A,
       cs_free(scratch_);
     }
     scratch_ = reinterpret_cast<CS_ENTRY*>(cs_malloc(A->n, sizeof(CS_ENTRY)));
+    scratch_size_ = A->n;
   }
 
   // Solve using Cholesky factorization
diff --git a/extern/libmv/third_party/ceres/internal/ceres/dense_normal_cholesky_solver.cc b/extern/libmv/third_party/ceres/internal/ceres/dense_normal_cholesky_solver.cc
index a340e1664f0..96f55115a67 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/dense_normal_cholesky_solver.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/dense_normal_cholesky_solver.cc
@@ -57,7 +57,7 @@ LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl(
   const int num_rows = A->num_rows();
   const int num_cols = A->num_cols();
 
-  ConstAlignedMatrixRef Aref = A->matrix();
+  ConstColMajorMatrixRef Aref = A->matrix();
   Matrix lhs(num_cols, num_cols);
   lhs.setZero();
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.cc b/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.cc
index 978ac6abe15..9d58031ccfc 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.cc
@@ -42,7 +42,6 @@ namespace internal {
 DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
     : has_diagonal_appended_(false),
       has_diagonal_reserved_(false) {
-  // Allocate enough space for the diagonal.
   m_.resize(num_rows, num_cols);
   m_.setZero();
 }
@@ -52,8 +51,8 @@ DenseSparseMatrix::DenseSparseMatrix(int num_rows,
                                      bool reserve_diagonal)
     : has_diagonal_appended_(false),
       has_diagonal_reserved_(reserve_diagonal) {
-  // Allocate enough space for the 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);
@@ -75,7 +74,7 @@ DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
   }
 }
 
-DenseSparseMatrix::DenseSparseMatrix(const Matrix& m)
+DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m)
     : m_(m),
       has_diagonal_appended_(false),
       has_diagonal_reserved_(false) {
@@ -141,7 +140,7 @@ void DenseSparseMatrix::ToProto(SparseMatrixProto* outer_proto) const {
 void DenseSparseMatrix::AppendDiagonal(double *d) {
   CHECK(!has_diagonal_appended_);
   if (!has_diagonal_reserved_) {
-    Matrix tmp = m_;
+    ColMajorMatrix tmp = m_;
     m_.resize(m_.rows() + m_.cols(), m_.cols());
     m_.setZero();
     m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
@@ -177,22 +176,27 @@ int DenseSparseMatrix::num_nonzeros() const {
   return m_.rows() * m_.cols();
 }
 
-ConstAlignedMatrixRef DenseSparseMatrix::matrix() const {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return ConstAlignedMatrixRef(
-        m_.data(), m_.rows() - m_.cols(), m_.cols());
-  }
-  return ConstAlignedMatrixRef(m_.data(), 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));
 }
 
-AlignedMatrixRef DenseSparseMatrix::mutable_matrix() {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return AlignedMatrixRef(
-        m_.data(), m_.rows() - m_.cols(), m_.cols());
-  }
-  return AlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+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));
 }
 
+
 void DenseSparseMatrix::ToTextFile(FILE* file) const {
   CHECK_NOTNULL(file);
   const int active_rows =
diff --git a/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.h b/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.h
index 1e4d499b631..6c7b60ade13 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/dense_sparse_matrix.h
@@ -51,7 +51,7 @@ class DenseSparseMatrix : public SparseMatrix {
   // Build a matrix with the same content as the TripletSparseMatrix
   // m. This assumes that m does not have any repeated entries.
   explicit DenseSparseMatrix(const TripletSparseMatrix& m);
-  explicit DenseSparseMatrix(const Matrix& m);
+  explicit DenseSparseMatrix(const ColMajorMatrix& m);
 #ifndef CERES_NO_PROTOCOL_BUFFERS
   explicit DenseSparseMatrix(const SparseMatrixProto& proto);
 #endif
@@ -78,8 +78,8 @@ class DenseSparseMatrix : public SparseMatrix {
   virtual const double* values() const { return m_.data(); }
   virtual double* mutable_values() { return m_.data(); }
 
-  ConstAlignedMatrixRef matrix() const;
-  AlignedMatrixRef mutable_matrix();
+  ConstColMajorMatrixRef matrix() const;
+  ColMajorMatrixRef mutable_matrix();
 
   // Only one diagonal can be appended at a time. The diagonal is appended to
   // as a new set of rows, e.g.
@@ -106,7 +106,7 @@ class DenseSparseMatrix : public SparseMatrix {
   void RemoveDiagonal();
 
  private:
-  Matrix m_;
+  ColMajorMatrix m_;
   bool has_diagonal_appended_;
   bool has_diagonal_reserved_;
 };
diff --git a/extern/libmv/third_party/ceres/internal/ceres/evaluator.cc b/extern/libmv/third_party/ceres/internal/ceres/evaluator.cc
index a3ce6f04bd4..31a417689e8 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/evaluator.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/evaluator.cc
@@ -72,76 +72,5 @@ Evaluator* Evaluator::Create(const Evaluator::Options& options,
   }
 }
 
-bool Evaluator::Evaluate(Program* program,
-                         int num_threads,
-                         double* cost,
-                         vector<double>* residuals,
-                         vector<double>* gradient,
-                         CRSMatrix* output_jacobian) {
-  CHECK_GE(num_threads, 1)
-      << "This is a Ceres bug; please contact the developers!";
-  CHECK_NOTNULL(cost);
-
-  // Setup the Parameter indices and offsets before an evaluator can
-  // be constructed and used.
-  program->SetParameterOffsetsAndIndex();
-
-  Evaluator::Options evaluator_options;
-  evaluator_options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
-  evaluator_options.num_threads = num_threads;
-
-  string error;
-  scoped_ptr<Evaluator> evaluator(
-      Evaluator::Create(evaluator_options, program, &error));
-  if (evaluator.get() == NULL) {
-    LOG(ERROR) << "Unable to create an Evaluator object. "
-               << "Error: " << error
-               << "This is a Ceres bug; please contact the developers!";
-    return false;
-  }
-
-  if (residuals !=NULL) {
-    residuals->resize(evaluator->NumResiduals());
-  }
-
-  if (gradient != NULL) {
-    gradient->resize(evaluator->NumEffectiveParameters());
-  }
-
-  scoped_ptr<CompressedRowSparseMatrix> jacobian;
-  if (output_jacobian != NULL) {
-    jacobian.reset(
-        down_cast<CompressedRowSparseMatrix*>(evaluator->CreateJacobian()));
-  }
-
-  // Point the state pointers to the user state pointers. This is
-  // needed so that we can extract a parameter vector which is then
-  // passed to Evaluator::Evaluate.
-  program->SetParameterBlockStatePtrsToUserStatePtrs();
-
-  // Copy the value of the parameter blocks into a vector, since the
-  // Evaluate::Evaluate method needs its input as such. The previous
-  // call to SetParameterBlockStatePtrsToUserStatePtrs ensures that
-  // these values are the ones corresponding to the actual state of
-  // the parameter blocks, rather than the temporary state pointer
-  // used for evaluation.
-  Vector parameters(program->NumParameters());
-  program->ParameterBlocksToStateVector(parameters.data());
-
-  if (!evaluator->Evaluate(parameters.data(),
-                           cost,
-                           residuals != NULL ? &(*residuals)[0] : NULL,
-                           gradient != NULL ? &(*gradient)[0] : NULL,
-                           jacobian.get())) {
-    return false;
-  }
-
-  if (output_jacobian != NULL) {
-    jacobian->ToCRSMatrix(output_jacobian);
-  }
-
-  return true;
-}
-
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/evaluator.h b/extern/libmv/third_party/ceres/internal/ceres/evaluator.h
index 14a88188145..3d2546224b8 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/evaluator.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/evaluator.h
@@ -72,7 +72,6 @@ class Evaluator {
                            Program* program,
                            string* error);
 
-
   // This is used for computing the cost, residual and Jacobian for
   // returning to the user. For actually solving the optimization
   // problem, the optimization algorithm uses the ProgramEvaluator
@@ -116,6 +115,18 @@ class Evaluator {
   // Schur complement based methods.
   virtual SparseMatrix* CreateJacobian() const = 0;
 
+
+  // Options struct to control Evaluator::Evaluate;
+  struct EvaluateOptions {
+    EvaluateOptions()
+        : apply_loss_function(true) {
+    }
+
+    // If false, the loss function correction is not applied to the
+    // residual blocks.
+    bool apply_loss_function;
+  };
+
   // Evaluate the cost function for the given state. Returns the cost,
   // residuals, and jacobian in the corresponding arguments. Both residuals and
   // jacobian are optional; to avoid computing them, pass NULL.
@@ -125,12 +136,29 @@ class Evaluator {
   //
   // state is an array of size NumParameters(), cost is a pointer to a single
   // double, and residuals is an array of doubles of size NumResiduals().
-  virtual bool Evaluate(const double* state,
+  virtual bool Evaluate(const EvaluateOptions& evaluate_options,
+                        const double* state,
                         double* cost,
                         double* residuals,
                         double* gradient,
                         SparseMatrix* jacobian) = 0;
 
+  // Variant of Evaluator::Evaluate where the user wishes to use the
+  // default EvaluateOptions struct. This is mostly here as a
+  // convenience method.
+  bool Evaluate(const double* state,
+                double* cost,
+                double* residuals,
+                double* gradient,
+                SparseMatrix* jacobian) {
+    return Evaluate(EvaluateOptions(),
+                    state,
+                    cost,
+                    residuals,
+                    gradient,
+                    jacobian);
+  }
+
   // Make a change delta (of size NumEffectiveParameters()) to state (of size
   // NumParameters()) and store the result in state_plus_delta.
   //
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generate_eliminator_specialization.py b/extern/libmv/third_party/ceres/internal/ceres/generate_eliminator_specialization.py
index af9873f94c0..60953513f4f 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generate_eliminator_specialization.py
+++ b/extern/libmv/third_party/ceres/internal/ceres/generate_eliminator_specialization.py
@@ -1,33 +1,31 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
 #
-# Copyright 2011 Google Inc. All Rights Reserved.
 # Author: sameeragarwal@google.com (Sameer Agarwal)
 #
 # Script for explicitly generating template specialization of the
@@ -54,21 +52,48 @@
 SPECIALIZATIONS = [(2, 2, 2),
                    (2, 2, 3),
                    (2, 2, 4),
-                   (2, 2, "Dynamic"),
+                   (2, 2, "Eigen::Dynamic"),
                    (2, 3, 3),
                    (2, 3, 4),
                    (2, 3, 9),
-                   (2, 3, "Dynamic"),
+                   (2, 3, "Eigen::Dynamic"),
                    (2, 4, 3),
                    (2, 4, 4),
-                   (2, 4, "Dynamic"),
+                   (2, 4, "Eigen::Dynamic"),
                    (4, 4, 2),
                    (4, 4, 3),
                    (4, 4, 4),
-                   (4, 4, "Dynamic"),
-                   ("Dynamic", "Dynamic", "Dynamic")]
+                   (4, 4, "Eigen::Dynamic"),
+                   ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
 
-SPECIALIZATION_FILE = """// Copyright 2011 Google Inc. All Rights Reserved.
+SPECIALIZATION_FILE = """// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //
 // Template specialization of SchurEliminator.
@@ -134,7 +159,7 @@ FACTORY_FOOTER = """
           << options.row_block_size << ","
           << options.e_block_size << ","
           << options.f_block_size << ">";
-  return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
 }
 
 }  // namespace internal
@@ -143,7 +168,7 @@ FACTORY_FOOTER = """
 
 
 def SuffixForSize(size):
-  if size == "Dynamic":
+  if size == "Eigen::Dynamic":
     return "d"
   return str(size)
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_2.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_2.cc
index 5529386e485..b4a2cfd123c 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_2.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_2.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_3.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_3.cc
index fd7af95192e..2373c6b86e1 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_3.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_4.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_4.cc
index 109483e9fc0..6253fe47410 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_4.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_d.cc
index b93e82fe2fa..d773a4f9d7e 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_2_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 2, Dynamic>;
+template class SchurEliminator<2, 2, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_3.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_3.cc
index 86352c07304..afb89b88891 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_3.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_4.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_4.cc
index 200df7f5931..c883ee690dc 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_4.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_9.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_9.cc
index 1fda3434bef..bdffdc5a98d 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_9.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_9.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_d.cc
index 385cd2d70c9..5d4139c23c3 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_3_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 3, Dynamic>;
+template class SchurEliminator<2, 3, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_3.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_3.cc
index 7b15d6366ac..06b99df6622 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_3.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_4.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_4.cc
index 29a610d743e..4bc1f44c2cd 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_4.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_d.cc
index a3bc4dc6f83..573e40ca73f 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_2_4_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<2, 4, Dynamic>;
+template class SchurEliminator<2, 4, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_2.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_2.cc
index f71a4f62944..e1f17fedd1b 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_2.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_2.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_3.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_3.cc
index 52259fb1a67..e7c750ade04 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_3.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_3.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_4.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_4.cc
index 775424e6c8f..d60ad71eedd 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_4.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_4.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_d.cc
index 97cde594059..12fa9789beb 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_4_4_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<4, 4, Dynamic>;
+template class SchurEliminator<4, 4, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_d_d_d.cc b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_d_d_d.cc
index 4cba32e26c8..fa34e39e42d 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_d_d_d.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/generated/schur_eliminator_d_d_d.cc
@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@
 namespace ceres {
 namespace internal {
 
-template class SchurEliminator<Dynamic, Dynamic, Dynamic>;
+template class SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>;
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.cc b/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.cc
index 2f27a78301a..1fc4de57e91 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.cc
@@ -81,7 +81,7 @@ class NonlinearConjugateGradient : public LineSearchDirection {
 
     *search_direction =  -current.gradient + beta * previous.search_direction;
     const double directional_derivative =
-        current. gradient.dot(*search_direction);
+        current.gradient.dot(*search_direction);
     if (directional_derivative > -function_tolerance_) {
       LOG(WARNING) << "Restarting non-linear conjugate gradients: "
                    << directional_derivative;
diff --git a/extern/libmv/third_party/ceres/internal/ceres/linear_solver.h b/extern/libmv/third_party/ceres/internal/ceres/linear_solver.h
index a98051468e7..f4bd0fb6f9f 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/linear_solver.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/linear_solver.h
@@ -79,9 +79,9 @@ class LinearSolver {
           max_num_iterations(1),
           num_threads(1),
           residual_reset_period(10),
-          row_block_size(Dynamic),
-          e_block_size(Dynamic),
-          f_block_size(Dynamic) {
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
     }
 
     LinearSolverType type;
@@ -106,11 +106,11 @@ class LinearSolver {
     //
     // For example if elimination_groups is a vector of size k, then
     // the linear solver is informed that it should eliminate the
-    // parameter blocks 0 - elimination_groups[0] - 1 first, and then
-    // elimination_groups[0] - elimination_groups[1] and so on. Within
-    // each elimination group, the linear solver is free to choose how
-    // the parameter blocks are ordered. Different linear solvers have
-    // differing requirements on elimination_groups.
+    // parameter blocks 0 ... elimination_groups[0] - 1 first, and
+    // then elimination_groups[0] ... elimination_groups[1] - 1 and so
+    // on. Within each elimination group, the linear solver is free to
+    // choose how the parameter blocks are ordered. Different linear
+    // solvers have differing requirements on elimination_groups.
     //
     // The most common use is for Schur type solvers, where there
     // should be at least two elimination groups and the first
diff --git a/extern/libmv/third_party/ceres/internal/ceres/mutex.h b/extern/libmv/third_party/ceres/internal/ceres/mutex.h
index 410748ff0ab..0c48ed352b5 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/mutex.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/mutex.h
@@ -275,7 +275,8 @@ void Mutex::ReaderUnlock() { Unlock(); }
 // "MutexLock(x) COMPILE_ASSERT(false)". To work around this, "Ceres" is
 // prefixed to the class names; this permits defining the classes.
 
-// CeresMutexLock(mu) acquires mu when constructed and releases it when destroyed.
+// CeresMutexLock(mu) acquires mu when constructed and releases it
+// when destroyed.
 class CeresMutexLock {
  public:
   explicit CeresMutexLock(Mutex *mu) : mu_(mu) { mu_->Lock(); }
diff --git a/extern/libmv/third_party/ceres/internal/ceres/preconditioner.h b/extern/libmv/third_party/ceres/internal/ceres/preconditioner.h
index 5bb077e0e33..bfc8464db17 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/preconditioner.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/preconditioner.h
@@ -49,9 +49,9 @@ class Preconditioner : public LinearOperator {
           sparse_linear_algebra_library(SUITE_SPARSE),
           use_block_amd(true),
           num_threads(1),
-          row_block_size(Dynamic),
-          e_block_size(Dynamic),
-          f_block_size(Dynamic) {
+          row_block_size(Eigen::Dynamic),
+          e_block_size(Eigen::Dynamic),
+          f_block_size(Eigen::Dynamic) {
     }
 
     PreconditionerType type;
@@ -70,7 +70,7 @@ class Preconditioner : public LinearOperator {
     // For example if elimination_groups is a vector of size k, then
     // the linear solver is informed that it should eliminate the
     // parameter blocks 0 ... elimination_groups[0] - 1 first, and
-    // then elimination_groups[0] ... elimination_groups[1] and so
+    // then elimination_groups[0] ... elimination_groups[1] - 1 and so
     // on. Within each elimination group, the linear solver is free to
     // choose how the parameter blocks are ordered. Different linear
     // solvers have differing requirements on elimination_groups.
diff --git a/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc b/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc
index bc378aaafff..21d11442177 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc
@@ -651,14 +651,19 @@ bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
   program.ParameterBlocksToStateVector(parameters.data());
 
   double tmp_cost = 0;
-  bool status = evaluator->Evaluate(parameters.data(),
+
+  Evaluator::EvaluateOptions evaluator_evaluate_options;
+  evaluator_evaluate_options.apply_loss_function =
+      evaluate_options.apply_loss_function;
+  bool status = evaluator->Evaluate(evaluator_evaluate_options,
+                                    parameters.data(),
                                     &tmp_cost,
                                     residuals != NULL ? &(*residuals)[0] : NULL,
                                     gradient != NULL ? &(*gradient)[0] : NULL,
                                     tmp_jacobian.get());
 
-  // Make the parameter blocks that were temporarirly marked
-  // constant, variable again.
+  // Make the parameter blocks that were temporarily marked constant,
+  // variable again.
   for (int i = 0; i < variable_parameter_blocks.size(); ++i) {
     variable_parameter_blocks[i]->SetVarying();
   }
diff --git a/extern/libmv/third_party/ceres/internal/ceres/program_evaluator.h b/extern/libmv/third_party/ceres/internal/ceres/program_evaluator.h
index a19cdf8a86a..de56ac25ff6 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/program_evaluator.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/program_evaluator.h
@@ -120,7 +120,8 @@ class ProgramEvaluator : public Evaluator {
     return jacobian_writer_.CreateJacobian();
   }
 
-  bool Evaluate(const double* state,
+  bool Evaluate(const Evaluator::EvaluateOptions& evaluate_options,
+                const double* state,
                 double* cost,
                 double* residuals,
                 double* gradient,
@@ -196,6 +197,7 @@ class ProgramEvaluator : public Evaluator {
       // Evaluate the cost, residuals, and jacobians.
       double block_cost;
       if (!residual_block->Evaluate(
+              evaluate_options.apply_loss_function,
               &block_cost,
               block_residuals,
               block_jacobians,
diff --git a/extern/libmv/third_party/ceres/internal/ceres/residual_block.cc b/extern/libmv/third_party/ceres/internal/ceres/residual_block.cc
index 7f789605e5f..b91b0ed7843 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/residual_block.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/residual_block.cc
@@ -62,7 +62,8 @@ ResidualBlock::ResidualBlock(const CostFunction* cost_function,
             parameter_blocks_.get());
 }
 
-bool ResidualBlock::Evaluate(double* cost,
+bool ResidualBlock::Evaluate(const bool apply_loss_function,
+                             double* cost,
                              double* residuals,
                              double** jacobians,
                              double* scratch) const {
@@ -154,7 +155,7 @@ bool ResidualBlock::Evaluate(double* cost,
     }
   }
 
-  if (loss_function_ == NULL) {
+  if (loss_function_ == NULL || !apply_loss_function) {
     *cost = 0.5 * squared_norm;
     return true;
   }
diff --git a/extern/libmv/third_party/ceres/internal/ceres/residual_block.h b/extern/libmv/third_party/ceres/internal/ceres/residual_block.h
index 3921d1d4678..9c3671bb0a4 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/residual_block.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/residual_block.h
@@ -93,11 +93,16 @@ class ResidualBlock {
   // parameterizations applied already; for example, the jacobian for a
   // 4-dimensional quaternion parameter using the "QuaternionParameterization"
   // is num_residuals by 3 instead of num_residuals by 4.
-  bool Evaluate(double* cost,
+  //
+  // apply_loss_function as the name implies allows the user to switch
+  // the application of the loss function on and off.
+  bool Evaluate(bool apply_loss_function,
+                double* cost,
                 double* residuals,
                 double** jacobians,
                 double* scratch) const;
 
+
   const CostFunction* cost_function() const { return cost_function_; }
   const LossFunction* loss_function() const { return loss_function_; }
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc
index 44f5be3b4e9..8dbf30f0379 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc
@@ -1,31 +1,4 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
-// http://code.google.com/p/ceres-solver/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
+// Copyright 2011 Google Inc. All Rights Reserved.
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //
 // ========================================
@@ -65,8 +38,8 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 2) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 2, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 2, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
@@ -85,8 +58,8 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 3) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 3, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 3, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 4) &&
@@ -100,8 +73,8 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 2) &&
       (options.e_block_size == 4) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<2, 4, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
   }
   if ((options.row_block_size == 4) &&
       (options.e_block_size == 4) &&
@@ -120,13 +93,13 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
   }
   if ((options.row_block_size == 4) &&
       (options.e_block_size == 4) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<4, 4, Dynamic>(options);
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<4, 4, Eigen::Dynamic>(options);
   }
-  if ((options.row_block_size == Dynamic) &&
-      (options.e_block_size == Dynamic) &&
-      (options.f_block_size == Dynamic)) {
-    return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  if ((options.row_block_size == Eigen::Dynamic) &&
+      (options.e_block_size == Eigen::Dynamic) &&
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
   }
 
 #endif
@@ -134,7 +107,7 @@ SchurEliminatorBase::Create(const LinearSolver::Options& options) {
           << options.row_block_size << ","
           << options.e_block_size << ","
           << options.f_block_size << ">";
-  return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+  return new SchurEliminator<Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic>(options);
 }
 
 }  // namespace internal
diff --git a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.h b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.h
index c24fe435f54..877621bb48c 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.h
@@ -213,9 +213,9 @@ class SchurEliminatorBase {
 //
 // This implementation is mulithreaded using OpenMP. The level of
 // parallelism is controlled by LinearSolver::Options::num_threads.
-template <int kRowBlockSize = Dynamic,
-          int kEBlockSize = Dynamic,
-          int kFBlockSize = Dynamic >
+template <int kRowBlockSize = Eigen::Dynamic,
+          int kEBlockSize = Eigen::Dynamic,
+          int kFBlockSize = Eigen::Dynamic >
 class SchurEliminator : public SchurEliminatorBase {
  public:
   explicit SchurEliminator(const LinearSolver::Options& options)
diff --git a/extern/libmv/third_party/ceres/internal/ceres/solver.cc b/extern/libmv/third_party/ceres/internal/ceres/solver.cc
index 6436d2df2a7..ea9ff1f488b 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/solver.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/solver.cc
@@ -100,10 +100,12 @@ Solver::Summary::Summary()
       jacobian_evaluation_time_in_seconds(-1.0),
       num_parameter_blocks(-1),
       num_parameters(-1),
+      num_effective_parameters(-1),
       num_residual_blocks(-1),
       num_residuals(-1),
       num_parameter_blocks_reduced(-1),
       num_parameters_reduced(-1),
+      num_effective_parameters_reduced(-1),
       num_residual_blocks_reduced(-1),
       num_residuals_reduced(-1),
       num_threads_given(-1),
@@ -156,10 +158,12 @@ string Solver::Summary::FullReport() const {
 
   if (termination_type == DID_NOT_RUN) {
     StringAppendF(&report, "                      Original\n");
-    StringAppendF(&report, "Parameter blocks    % 10d\n",
-                  num_parameter_blocks);
-    StringAppendF(&report, "Parameters          % 10d\n",
-                  num_parameters);
+    StringAppendF(&report, "Parameter blocks    % 10d\n", num_parameter_blocks);
+    StringAppendF(&report, "Parameters          % 10d\n", num_parameters);
+    if (num_effective_parameters != num_parameters) {
+      StringAppendF(&report, "Effective parameters% 10d\n", num_parameters);
+    }
+
     StringAppendF(&report, "Residual blocks     % 10d\n",
                   num_residual_blocks);
     StringAppendF(&report, "Residuals           % 10d\n\n",
@@ -170,6 +174,10 @@ string Solver::Summary::FullReport() const {
                   num_parameter_blocks, num_parameter_blocks_reduced);
     StringAppendF(&report, "Parameters          % 25d% 25d\n",
                   num_parameters, num_parameters_reduced);
+    if (num_effective_parameters_reduced != num_parameters_reduced) {
+      StringAppendF(&report, "Effective parameters% 25d% 25d\n",
+                    num_effective_parameters, num_effective_parameters_reduced);
+    }
     StringAppendF(&report, "Residual blocks     % 25d% 25d\n",
                   num_residual_blocks, num_residual_blocks_reduced);
     StringAppendF(&report, "Residual            % 25d% 25d\n",
@@ -204,7 +212,7 @@ string Solver::Summary::FullReport() const {
     StringAppendF(&report, "\n");
     StringAppendF(&report, "\n");
 
-    StringAppendF(&report,   "%45s    %21s\n", "Given",  "Used");
+    StringAppendF(&report, "%45s    %21s\n", "Given",  "Used");
     StringAppendF(&report, "Linear solver       %25s%25s\n",
                   LinearSolverTypeToString(linear_solver_type_given),
                   LinearSolverTypeToString(linear_solver_type_used));
@@ -299,15 +307,15 @@ string Solver::Summary::FullReport() const {
     // LINE_SEARCH
     StringAppendF(&report, "\nMinimizer                 %19s\n", "LINE_SEARCH");
     if (line_search_direction_type == LBFGS) {
-      StringAppendF(&report,   "Line search direction     %19s(%d)\n",
+      StringAppendF(&report, "Line search direction     %19s(%d)\n",
                     LineSearchDirectionTypeToString(line_search_direction_type),
                     max_lbfgs_rank);
     } else {
-      StringAppendF(&report,   "Line search direction     %19s\n",
+      StringAppendF(&report, "Line search direction     %19s\n",
                     LineSearchDirectionTypeToString(
                         line_search_direction_type));
     }
-    StringAppendF(&report,   "Line search type          %19s\n",
+    StringAppendF(&report, "Line search type          %19s\n",
                   LineSearchTypeToString(line_search_type));
 
     StringAppendF(&report, "\n");
@@ -336,8 +344,8 @@ string Solver::Summary::FullReport() const {
                     initial_cost - final_cost);
     }
 
-    StringAppendF(&report, "\nNumber of iterations:    % 20ld\n",
-                  iterations.size() - 1);
+    StringAppendF(&report, "\nNumber of iterations:    % 20d\n",
+                  static_cast<int>(iterations.size() - 1));
 
     StringAppendF(&report, "\nTime (in seconds):\n");
     StringAppendF(&report, "Preprocessor        %25.3f\n",
diff --git a/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc b/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
index 5bcfdc6312f..e18d3b96333 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
@@ -335,6 +335,8 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
   summary->minimizer_type = TRUST_REGION;
   summary->num_parameter_blocks = problem_impl->NumParameterBlocks();
   summary->num_parameters = problem_impl->NumParameters();
+  summary->num_effective_parameters =
+      original_program->NumEffectiveParameters();
   summary->num_residual_blocks = problem_impl->NumResidualBlocks();
   summary->num_residuals = problem_impl->NumResiduals();
 
@@ -447,6 +449,8 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
 
   summary->num_parameter_blocks_reduced = reduced_program->NumParameterBlocks();
   summary->num_parameters_reduced = reduced_program->NumParameters();
+  summary->num_effective_parameters_reduced =
+      reduced_program->NumEffectiveParameters();
   summary->num_residual_blocks_reduced = reduced_program->NumResidualBlocks();
   summary->num_residuals_reduced = reduced_program->NumResiduals();
 
@@ -910,8 +914,11 @@ bool SolverImpl::RemoveFixedBlocksFromProgram(Program* program,
         // The residual is constant and will be removed, so its cost is
         // added to the variable fixed_cost.
         double cost = 0.0;
-        if (!residual_block->Evaluate(
-              &cost, NULL, NULL, residual_block_evaluate_scratch.get())) {
+        if (!residual_block->Evaluate(true,
+                                      &cost,
+                                      NULL,
+                                      NULL,
+                                      residual_block_evaluate_scratch.get())) {
           *error = StringPrintf("Evaluation of the residual %d failed during "
                                 "removal of fixed residual blocks.", i);
           return false;
@@ -1146,20 +1153,6 @@ LinearSolver* SolverImpl::CreateLinearSolver(Solver::Options* options,
       options->sparse_linear_algebra_library;
 
   linear_solver_options.num_threads = options->num_linear_solver_threads;
-  // The matrix used for storing the dense Schur complement has a
-  // single lock guarding the whole matrix. Running the
-  // SchurComplementSolver with multiple threads leads to maximum
-  // contention and slowdown. If the problem is large enough to
-  // benefit from a multithreaded schur eliminator, you should be
-  // using a SPARSE_SCHUR solver anyways.
-  if ((linear_solver_options.num_threads > 1) &&
-      (linear_solver_options.type == DENSE_SCHUR)) {
-    LOG(WARNING) << "Warning: Solver::Options::num_linear_solver_threads = "
-                 << options->num_linear_solver_threads
-                 << " with DENSE_SCHUR will result in poor performance; "
-                 << "switching to single-threaded.";
-    linear_solver_options.num_threads = 1;
-  }
   options->num_linear_solver_threads = linear_solver_options.num_threads;
 
   linear_solver_options.use_block_amd = options->use_block_amd;
diff --git a/extern/libmv/third_party/ceres/internal/ceres/visibility.cc b/extern/libmv/third_party/ceres/internal/ceres/visibility.cc
index 8e80fd121bb..371bdfacd52 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/visibility.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/visibility.cc
@@ -139,7 +139,8 @@ Graph<int>* CreateSchurComplementGraph(const vector<set<int> >& visibility) {
     const int count = it->second;
     // Static cast necessary for Windows.
     const double weight = static_cast<double>(count) /
-        (sqrt(static_cast<double>(visibility[camera1].size() * visibility[camera2].size())));
+        (sqrt(static_cast<double>(
+                  visibility[camera1].size() * visibility[camera2].size())));
     graph->AddEdge(camera1, camera2, weight);
   }
 
diff --git a/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.h b/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.h
index 8a09c78d36a..dae498730aa 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.h
@@ -38,7 +38,8 @@
 // documented here can be found in
 //
 // Visibility Based Preconditioning for Bundle Adjustment
-// A. Kushal & S. Agarwal, submitted to CVPR 2012
+// A. Kushal & S. Agarwal, CVPR 2012.
+//
 // http://www.cs.washington.edu/homes/sagarwal/vbp.pdf
 //
 // The two preconditioners share enough code that its most efficient