Update ceres to current git version.

Mainly to support msvc2010, bit also includes some minor fixes.

42 files changed, 414 insertions, 279 deletions

diff --git a/extern/libmv/third_party/ceres/ChangeLog b/extern/libmv/third_party/ceres/ChangeLog
index 67a1cac9d76..458a045d8be 100644
--- a/extern/libmv/third_party/ceres/ChangeLog
+++ b/extern/libmv/third_party/ceres/ChangeLog
@@ -1,3 +1,179 @@
+commit f46de9e697eb5b8756084615e29ded48600a4d39
+Author: Sergey Sharybin <sergey.vfx@gmail.com>
+Date:   Thu Mar 21 15:31:35 2013 +0600
+
+    Silent no previous declaration warning for FindParameterBlockOrDie
+    
+    Use anonymous namespace for this. Also move some surrounding static
+    function to this anonymous namespace.
+    
+    Change-Id: Ie235eb7936976563a9db115ec13c59e6e6869b96
+
+commit 16636efeffacdd69d075a60ea8a94d98fd81c6fd
+Author: Sergey Sharybin <sergey.vfx@gmail.com>
+Date:   Thu Mar 21 15:12:01 2013 +0600
+
+    Compilation fix for msvc2010
+    
+    Usage of back_inserter requires <iterator> header when using msvc2010
+    
+    Change-Id: I92ee1649795ce0468ce337fc414eb0ca6e90c51e
+
+commit ac0d416991274ed67fe85371f09b07f706a6db9a
+Author: Pablo Speciale <pablo.speciale@gmail.com>
+Date:   Wed Mar 20 18:32:14 2013 -0700
+
+    google-glog link wasn't working, 'http://' twice
+    
+    Change-Id: I9cd96d3609f9b1ba31cd480fef1702972be86741
+
+commit 55b6c966c4f697cb5d11982201733aa3bce7a5a7
+Author: Pablo Speciale <pablo.speciale@gmail.com>
+Date:   Wed Mar 20 17:44:04 2013 -0700
+
+    * Fixed the location of the Ceres doc (once installed with 'make install')
+    * Doing 'make ceres_docs' can be used to create the documentation (if the BUILD_DOCUMENTATION=ON)
+    * Included the copyright boilerplate for FindSphinx.cmake
+    
+    Change-Id: Iea21eba9e68384b4fe72c85fa88c76b0ba8a7a1d
+
+commit a986912555b304a47dd0c2a02892046fde15d091
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Mar 20 11:50:34 2013 -0700
+
+    Update version history
+    
+    Change-Id: I238279719219a26d0d1bb32e0610f41007d3dcef
+
+commit 16dbf11626c52c013f1dca6375f993a554e31d51
+Author: Pablo Speciale <pablo.speciale@gmail.com>
+Date:   Mon Mar 11 14:44:02 2013 -0700
+
+    Added CeresConfig.cmake based on this example:
+        https://projects.kde.org/projects/kde/kdeexamples/repository/revisions/master/show/buildsystem/HowToInstallALibrary
+    
+    Change-Id: I130cac5d43d9fbbf359abc04d3691e25c4e2bb63
+
+commit 015d57f173fab7ea040ee01474101e208ff72be6
+Author: Pablo Speciale <pablo.speciale@gmail.com>
+Date:   Tue Mar 19 14:05:14 2013 -0700
+
+    Avoiding the Warning: "deprecated conversion from string constant to char*"
+    
+    Change-Id: Ifa47f9b0724f79c5c695828628c89818ddefd844
+
+commit c51b11c1046366035e7da95e4d8a78100ef3f153
+Author: Pablo Speciale <pablo.speciale@gmail.com>
+Date:   Tue Mar 12 00:56:56 2013 -0700
+
+    Sphinx and CMake, based on this example:
+       http://ericscottbarr.com/blog/2012/03/sphinx-and-cmake-beautiful-documentation-for-c-projects/
+    
+    The 'docs/CMakeLists.txt' file was deleted in this commit: 0abfb8f46f534b05413bb4d64b960d6fd0a9befb
+    
+    Thanks to Arnaud Gelas, he has passed some links:
+       https://github.com/InsightSoftwareConsortium/ITKExamples/blob/master/CMake/FindSphinx.cmake
+       https://github.com/InsightSoftwareConsortium/ITKExamples/blob/master/CMakeLists.txt#L120-L154
+    
+    Change-Id: Ic65e7f8ec5280d1e71a897a144417a21761c5553
+
+commit 793a339335d8d52279efb49bcd704d196646efb5
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Mar 13 12:14:00 2013 -0700
+
+    Make Android.mk play better with the external consraints
+    
+    Change-Id: Ia0a1037d97c032a4ba1a9acbf4e04c192d12ee61
+
+commit 700d50d8074f0273b305fe6d9f795f1dcb988048
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Mar 12 16:12:42 2013 -0700
+
+    Lint cleanup from William Rucklidge
+    
+    Change-Id: Iacbf77246109f687708696eee7fb6144d23e7ec5
+
+commit 8140f0fc979f5728f37cfb68362f31e7e37b46bb
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Mar 12 09:45:08 2013 -0700
+
+    Modularize the build.
+    
+    1. Add -DLINE_SEARCH_MINIMIZER to CMake to make the line search
+       minimizer optional.
+    2. Better handling of -DSUITESPARSE/-DCXSPARSE in top level cmake
+       file.
+    3. Disable code which will never be used if SuiteSparse and/or
+       CXSparse is not available.
+    4. Update build docs.
+    5. Update jni/Android.mk
+    6. Minor lint cleanup from William Rucklidge.
+    
+    Change-Id: If60460a858000df82faed7a6bb056dd2bfdde562
+
+commit c59c1e44727c62d43523b672c1c132865cd25784
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Mon Mar 11 17:28:38 2013 -0700
+
+    Propagate ifdefs correctly to improve build efficiency.
+    
+    With -DRESTRICT_SCHUR_SPECIALIZATIONS, now the various
+    specializations are empty, decreasing build time and
+    reducing the size of the static library.
+    
+    Change-Id: I8ec431279741a9a83516a4167c54a364c4608143
+
+commit 32874b861fc54b33aa4272e8c81bb001aa1e1e60
+Author: Yuliy Schwartzburg <syx818@gmail.com>
+Date:   Fri Mar 8 11:30:44 2013 +0100
+
+    Fix CMake "LIB_SUFFIX" for non-linux installations
+    
+    Change-Id: Ieb8a2825a4378b388149e7934ecc7b96ba5a29fa
+
+commit 58b8c68f29c2c15edbc5f77102796df661020312
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Sat Mar 9 17:17:43 2013 -0800
+
+    Clean up rotation.h
+    
+    Change-Id: I3370c9883728cda068c9650a2c2a50641fd8299c
+
+commit 020d8e1e48f341f3b990ac449998d36aaca2771f
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Mar 6 16:19:26 2013 -0800
+
+    Better error reporting in the modeling API.
+    
+    More informative error when user passes an
+    unknown parameter block to Problem methods.
+    
+    Change-Id: I517360e4b0b55814904ca3e664877d76ad3f59e8
+
+commit 5e7ce8a950cf5794c63817827ce66a3a4e66e7b6
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Wed Mar 6 11:38:41 2013 -0800
+
+    Fix Problem::Evaluate documentation
+    
+    Change-Id: I8c70a24743cff2d9cface99ef0f5d34c78f769c6
+
+commit 0a4f5f8f7428148f21183e743d091d2079406604
+Author: Taylor Braun-Jones <taylor@braun-jones.org>
+Date:   Wed Mar 6 00:00:32 2013 -0500
+
+    Fix operator() signature in several sections of the documentation
+    
+    Change-Id: I73f9d150a738f7b136fbc1f98fc60b0f306bd7f9
+
+commit 2c648dbc43025927301684fc82d95ccf6b6c21bc
+Author: Sameer Agarwal <sameeragarwal@google.com>
+Date:   Tue Mar 5 15:20:15 2013 -0800
+
+    Make examples independent of ceres internals.
+    
+    Change-Id: I6b6913e067a86fea713646218c8da1439d349d74
+
 commit e7148795c3f2ce1f6625a7c81545707a6cbde3eb
 Author: Sameer Agarwal <sameeragarwal@google.com>
 Date:   Mon Mar 4 10:17:30 2013 -0800
@@ -429,199 +605,3 @@ Date:   Fri Feb 15 14:26:56 2013 -0800
     Solver::Summary::FullReport() supports line search now.
     
     Change-Id: Ib08d300198b85d9732cfb5785af4235ca4bd5226
-
-commit fbbea464d1c9575d8224220d3e61f92d93fe9739
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Feb 15 11:25:03 2013 -0800
-
-    Update documentation.
-    
-    Change-Id: Idb03741fab9facbbbda85d5a82723f0b4c1c6c60
-
-commit 8e1f83c4c457fb7238eb342eab744c5570b73c4d
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Feb 15 08:35:40 2013 -0800
-
-    Speed up Problem construction and destruction.
-    
-    Change-Id: I3147b0b60eedf40f8453d5a39ff04a572c445a2f
-
-commit efb47f39c31f0ef1bb9c015c8c0d114153df6379
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Thu Feb 14 19:44:11 2013 -0800
-
-    Documentation update
-    
-    Change-Id: I0fec43bff4fe0ea6cd2d2a8b34dac2330a517da0
-
-commit be418a336cae5672111e0f6989e6d8d6c1fa24a6
-Author: Markus Moll <markus.moll@esat.kuleuven.be>
-Date:   Fri Feb 15 17:19:28 2013 +0100
-
-    Fix evaluation of initial cost and corresponding test
-    
-    Commit f102a68e411d11b4864e17b69a2d781e9c2692ad seems to have introduced
-    a bug in both solver_impl.cc and solver_impl_test.cc
-    solver_impl_test showed 3 errors, where two were due to ceres NOT
-    failing when the test expected that, and one was due to the initial cost
-    being wrong (-1 instead of 0.5)
-    Ceres now does not attempt to evaluate the initial cost if
-    options.return_initial_xxx is not set. It therefore did not fail in
-    the tests.
-    It also seems that the CERES_EVALUATE macro erroneously always sets
-    final_cost, even when called with 'initial' as argument.
-    
-    Change-Id: Ia3c3eeb476e7023a3f80b201124010d6c67e9824
-
-commit 974513a41ff1ddc671d3dc6aa09ce708bbe447da
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Tue Feb 12 14:22:40 2013 -0800
-
-    Bug fix in DynamicAutoDiffCostFunction
-    
-    Add handling of constant parameter blocks.
-    
-    Change-Id: I8b2ea79f47e190604fc4bed27705798240689f71
-
-commit 3130b3cea4028c71d9ae18b7465d7627f29fef7d
-Author: Keir Mierle <mierle@gmail.com>
-Date:   Mon Feb 11 19:39:29 2013 -0800
-
-    Add support for dynamic autodiff
-    
-    Change-Id: I17d573696172ab691a9653db99a620e4bc1bd0d0
-
-commit c58e6dc3ea550302c8151003b17e9bc2a1acc316
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Feb 11 16:41:06 2013 -0800
-
-    More refined event logging in solver_impl.cc
-    
-    Change-Id: Ie3061c921c006d2600d16185c690f52ccf816f68
-
-commit f102a68e411d11b4864e17b69a2d781e9c2692ad
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Feb 11 15:08:40 2013 -0800
-
-    Remove extraneous initial and final evals.
-    
-    Change-Id: I80ed87435f399cbf452c68be7ea1e7139696aa4a
-
-commit 0593747ee09e21a9c0a2b604d51e21a6cdd21315
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Feb 11 13:57:12 2013 -0800
-
-    Fix a memory leak in cxsparse.cc
-    
-    Thanks to Alexander Mordvintsev for reporting it.
-    
-    Change-Id: Ia872be42ce80209e46722fc16a928496cf97e256
-
-commit 0abfb8f46f534b05413bb4d64b960d6fd0a9befb
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Feb 11 13:40:04 2013 -0800
-
-    Delete the tex documentation.
-    
-    Change-Id: I15c78a8b33c5fd94941238814ac023a8fb251a20
-
-commit 085cd4a6641c404334d17e5ea38f9e5b68a06ba7
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Wed Feb 6 14:31:07 2013 -0800
-
-    Rewrite of the tutorial.
-    
-    1. Quicker starting point.
-    2. Better discussion of derivatives.
-    3. Better hyperlinking to code and class documentation.
-    4. New robust estimation example.
-    5. Better naming of example code.
-    6. Removed dependency on gflags in all the core examples covered
-       in the tutorial.
-    
-    Change-Id: Ibf3c7fe946fa2b4d22f8916a9366df267d34ca26
-
-commit c0fdc9753909fc37fed2cb5e0fcc02fc65789d68
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Wed Feb 6 14:31:07 2013 -0800
-
-    Update nist.cc to better evaluate results.
-    
-    Ceres beats Minpack and HBN handily.
-    
-    Change-Id: I7df8a47b753202ed0b53ab128ce48466bf9f8083
-
-commit d91b671798125fd4889914d92a29cf0f7a5fef21
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Wed Feb 6 01:08:40 2013 -0800
-
-    More small changes
-    More small changes to the docs.
-    
-    1. Better landing page.
-    2. Minor tweaks to the side bar.
-    3. Reference to more example code.
-    4. Local MathJax references.
-    
-    Change-Id: I39b9436dc2803732a875bbbee7f15802c4934031
-
-commit 42a84b87fa5cc34551244a3b2b6a3e1f13a29514
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Fri Feb 1 12:22:53 2013 -0800
-
-    Expand reporting of timing information.
-    
-    1. Add an ExecutionSummary object to record execution
-       information about Ceres objects.
-    2. Add an EventLogger object to log events in a function call.
-    3. Add a ScopedExecutionTimer object to log times in ExecutionSummary.
-    4. Instrument ProgramEvaluator and all the linear solvers
-       to report their timing statistics.
-    5. Connect the timing statistics to Summary::FullReport.
-    6. Add high precision timer on unix systems using
-       gettimeofday() call.
-    7. Various minor clean ups all around.
-    
-    Change-Id: I5e09804b730b09535484124be7dbc1c58eccd1d4
-
-commit 08c891fcb6ea1bf66e6d4619273765a644605dfc
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Feb 4 20:18:58 2013 -0800
-
-    Various small changes.
-    
-    1. Compact build instructions.
-    2. Lots of small edits by Simon Fuhrmann.
-    
-    Change-Id: I8c0c67922021041dcf7f4ecdb6c6e6dd2e2fd7e5
-
-commit e2e857ad6be322e9cf750d4b11ccf10800e57d96
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Feb 4 19:40:45 2013 -0800
-
-    Sidebar has global table of contents.
-    
-    Change-Id: I7fe9053868a4660b0db8d7607ee618fc30ddaefd
-
-commit b9182147d96f865673c2756ced4cbb127ca082a3
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Mon Feb 4 17:55:25 2013 -0800
-
-    Change the theme to be closer to ReadTheDocs.org
-    
-    Change-Id: I61a76f5b5e5c292b54fdf51b66940ce80bd1cd5f
-
-commit 3d87b72c895835bbfc10965d50dc96608632114d
-Author: Sameer Agarwal <sameeragarwal@google.com>
-Date:   Sat Feb 2 00:49:31 2013 -0800
-
-    Convert documentation from LaTeX to Sphinx.
-    
-    A live version of the doc can be found at
-    
-    http://homes.cs.washington.edu/~sagarwal/ceres-solver/
-    
-    As it stands, the documentation has better hyperlinking
-    and coverage than the latex documentation now.
-    
-    Change-Id: I7ede3aa83b9b9ef25104caf331e5727b4f5beae5
diff --git a/extern/libmv/third_party/ceres/include/ceres/cost_function_to_functor.h b/extern/libmv/third_party/ceres/include/ceres/cost_function_to_functor.h
index b30ecd06983..fa1012de741 100644
--- a/extern/libmv/third_party/ceres/include/ceres/cost_function_to_functor.h
+++ b/extern/libmv/third_party/ceres/include/ceres/cost_function_to_functor.h
@@ -68,11 +68,11 @@
 //             new IntrinsicProjection(observation_)));
 //   }
 //   template <typename T>
-//   bool operator(const T* rotation,
-//                 const T* translation,
-//                 const T* intrinsics,
-//                 const T* point,
-//                 T* residual) const {
+//   bool operator()(const T* rotation,
+//                   const T* translation,
+//                   const T* intrinsics,
+//                   const T* point,
+//                   T* residual) const {
 //     T transformed_point[3];
 //     RotateAndTranslatePoint(rotation, translation, point, transformed_point);
 //
diff --git a/extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h b/extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h
index 011f2a05b65..2b32671c06d 100644
--- a/extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h
+++ b/extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h
@@ -38,7 +38,7 @@
 //
 //   struct F {
 //     template<typename T>
-//     bool operator(const T *x, const T *y, ..., T *z) {
+//     bool operator()(const T *x, const T *y, ..., T *z) {
 //       // Compute z[] based on x[], y[], ...
 //       // return true if computation succeeded, false otherwise.
 //     }
@@ -102,7 +102,7 @@
 //
 //   struct F {
 //     template<typename T>
-//     bool operator(const T *p, const T *q, T *z) {
+//     bool operator()(const T *p, const T *q, T *z) {
 //       // ...
 //     }
 //   };
diff --git a/extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h b/extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h
index 593c3718bf5..039e1a17aa7 100644
--- a/extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h
+++ b/extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h
@@ -71,11 +71,11 @@
 //   }
 //
 //   template <typename T>
-//   bool operator(const T* rotation,
-//                 const T* translation,
-//                 const T* intrinsics,
-//                 const T* point,
-//                 T* residuals) const {
+//   bool operator()(const T* rotation,
+//                   const T* translation,
+//                   const T* intrinsics,
+//                   const T* point,
+//                   T* residuals) const {
 //     T transformed_point[3];
 //     RotateAndTranslatePoint(rotation, translation, point, transformed_point);
 //     return (*intrinsic_projection_)(intrinsics, transformed_point, residual);
diff --git a/extern/libmv/third_party/ceres/include/ceres/problem.h b/extern/libmv/third_party/ceres/include/ceres/problem.h
index b1ccbab5dbd..0a449cb99f1 100644
--- a/extern/libmv/third_party/ceres/include/ceres/problem.h
+++ b/extern/libmv/third_party/ceres/include/ceres/problem.h
@@ -383,7 +383,7 @@ class Problem {
   //
   //   Problem problem;
   //   double x = 1;
-  //   problem.Add(new MyCostFunction, NULL, &x);
+  //   problem.AddResidualBlock(new MyCostFunction, NULL, &x);
   //
   //   double cost = 0.0;
   //   problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL);
diff --git a/extern/libmv/third_party/ceres/include/ceres/rotation.h b/extern/libmv/third_party/ceres/include/ceres/rotation.h
index ffac4f1dc0c..ea0b76947eb 100644
--- a/extern/libmv/third_party/ceres/include/ceres/rotation.h
+++ b/extern/libmv/third_party/ceres/include/ceres/rotation.h
@@ -83,7 +83,7 @@ MatrixAdapter<T, 3, 1> RowMajorAdapter3x3(T* pointer);
 // The implementation may be used with auto-differentiation up to the first
 // derivative, higher derivatives may have unexpected results near the origin.
 template<typename T>
-void AngleAxisToQuaternion(T const* angle_axis, T* quaternion);
+void AngleAxisToQuaternion(const T* angle_axis, T* quaternion);
 
 // Convert a quaternion to the equivalent combined axis-angle representation.
 // The value quaternion must be a unit quaternion - it is not normalized first,
@@ -92,13 +92,13 @@ void AngleAxisToQuaternion(T const* angle_axis, T* quaternion);
 // The implemention may be used with auto-differentiation up to the first
 // derivative, higher derivatives may have unexpected results near the origin.
 template<typename T>
-void QuaternionToAngleAxis(T const* quaternion, T* angle_axis);
+void QuaternionToAngleAxis(const T* quaternion, T* angle_axis);
 
 // Conversions between 3x3 rotation matrix (in column major order) and
 // axis-angle rotation representations.  Templated for use with
 // autodifferentiation.
 template <typename T>
-void RotationMatrixToAngleAxis(T const* R, T* angle_axis);
+void RotationMatrixToAngleAxis(const T* R, T* angle_axis);
 
 template <typename T, int row_stride, int col_stride>
 void RotationMatrixToAngleAxis(
@@ -106,11 +106,11 @@ void RotationMatrixToAngleAxis(
     T* angle_axis);
 
 template <typename T>
-void AngleAxisToRotationMatrix(T const* angle_axis, T* R);
+void AngleAxisToRotationMatrix(const T* angle_axis, T* R);
 
 template <typename T, int row_stride, int col_stride>
 void AngleAxisToRotationMatrix(
-    T const* angle_axis,
+    const T* angle_axis,
     const MatrixAdapter<T, row_stride, col_stride>& R);
 
 // Conversions between 3x3 rotation matrix (in row major order) and
@@ -300,14 +300,14 @@ inline void QuaternionToAngleAxis(const T* quaternion, T* angle_axis) {
 // occurs and deals with them by taking code paths that are guaranteed
 // to not perform division by a small number.
 template <typename T>
-inline void RotationMatrixToAngleAxis(const T * R, T * angle_axis) {
+inline void RotationMatrixToAngleAxis(const T* R, T* angle_axis) {
   RotationMatrixToAngleAxis(ColumnMajorAdapter3x3(R), angle_axis);
 }
 
 template <typename T, int row_stride, int col_stride>
 void RotationMatrixToAngleAxis(
     const MatrixAdapter<const T, row_stride, col_stride>& R,
-    T * angle_axis) {
+    T* angle_axis) {
   // x = k * 2 * sin(theta), where k is the axis of rotation.
   angle_axis[0] = R(2, 1) - R(1, 2);
   angle_axis[1] = R(0, 2) - R(2, 0);
@@ -385,13 +385,13 @@ void RotationMatrixToAngleAxis(
 }
 
 template <typename T>
-inline void AngleAxisToRotationMatrix(const T * angle_axis, T * R) {
+inline void AngleAxisToRotationMatrix(const T* angle_axis, T* R) {
   AngleAxisToRotationMatrix(angle_axis, ColumnMajorAdapter3x3(R));
 }
 
 template <typename T, int row_stride, int col_stride>
 void AngleAxisToRotationMatrix(
-    const T * angle_axis,
+    const T* angle_axis,
     const MatrixAdapter<T, row_stride, col_stride>& R) {
   static const T kOne = T(1.0);
   const T theta2 = DotProduct(angle_axis, angle_axis);
diff --git a/extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.cc b/extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.cc
index d0dc1e670c2..653194571b1 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.cc
@@ -29,6 +29,8 @@
 // Author: David Gallup (dgallup@google.com)
 //         Sameer Agarwal (sameeragarwal@google.com)
 
+#ifndef CERES_NO_SUITESPARSE
+
 #include "ceres/canonical_views_clustering.h"
 
 #include "ceres/collections_port.h"
@@ -236,3 +238,5 @@ void CanonicalViewsClustering::ComputeClusterMembership(
 
 }  // namespace internal
 }  // namespace ceres
+
+#endif  // CERES_NO_SUITESPARSE
diff --git a/extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.h b/extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.h
index 5f8e4e3e5dd..48d1ed210c9 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/canonical_views_clustering.h
@@ -41,6 +41,8 @@
 #ifndef CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
 #define CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
 
+#ifndef CERES_NO_SUITESPARSE
+
 #include <vector>
 
 #include "ceres/collections_port.h"
@@ -130,4 +132,5 @@ struct CanonicalViewsClusteringOptions {
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_NO_SUITESPARSE
 #endif  // CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
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 60953513f4f..caeca69fb80 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
@@ -65,8 +65,7 @@ SPECIALIZATIONS = [(2, 2, 2),
                    (4, 4, 4),
                    (4, 4, "Eigen::Dynamic"),
                    ("Eigen::Dynamic", "Eigen::Dynamic", "Eigen::Dynamic")]
-
-SPECIALIZATION_FILE = """// Ceres Solver - A fast non-linear least squares minimizer
+HEADER = """// 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/
 //
@@ -105,8 +104,11 @@ SPECIALIZATION_FILE = """// Ceres Solver - A fast non-linear least squares minim
 // THIS FILE IS AUTOGENERATED. DO NOT EDIT.
 //=========================================
 //
-// This file is generated using generate_eliminator_specializations.py.
+// This file is generated using generate_eliminator_specialization.py.
 // Editing it manually is not recommended.
+"""
+
+DYNAMIC_FILE = """
 
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
@@ -118,22 +120,26 @@ template class SchurEliminator<%s, %s, %s>;
 
 }  // namespace internal
 }  // namespace ceres
-
 """
 
-FACTORY_FILE_HEADER = """// Copyright 2011 Google Inc. All Rights Reserved.
-// Author: sameeragarwal@google.com (Sameer Agarwal)
-//
-// ========================================
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
-//=========================================
-//
-// This file is generated using generate_template_specializations.py.
-// Editing it manually is not recommended.
+SPECIALIZATION_FILE = """
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
 
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<%s, %s, %s>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+FACTORY_FILE_HEADER = """
 #include "ceres/linear_solver.h"
 #include "ceres/schur_eliminator.h"
 #include "ceres/internal/eigen.h"
@@ -184,6 +190,7 @@ def Specialize():
   Generate specialization code and the conditionals to instantiate it.
   """
   f = open("schur_eliminator.cc", "w")
+  f.write(HEADER)
   f.write(FACTORY_FILE_HEADER)
 
   for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
@@ -192,9 +199,15 @@ def Specialize():
                                     e_block_size,
                                     f_block_size) + ".cc"
     fptr = open(output, "w")
-    fptr.write(SPECIALIZATION_FILE % (row_block_size,
-                                      e_block_size,
-                                      f_block_size))
+    fptr.write(HEADER)
+
+    template = SPECIALIZATION_FILE
+    if (row_block_size == "Eigen::Dynamic" and
+        e_block_size == "Eigen::Dynamic" and
+        f_block_size == "Eigen::Dynamic"):
+      template = DYNAMIC_FILE
+
+    fptr.write(template % (row_block_size, e_block_size, f_block_size))
     fptr.close()
 
     f.write(FACTORY_CONDITIONAL % (row_block_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 b4a2cfd123c..7f9ce1431b9 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 2, 2>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 2373c6b86e1..d9ab1ddf2c1 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 2, 3>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 6253fe47410..a268810a829 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 2, 4>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 d773a4f9d7e..46f9492e830 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 2, Eigen::Dynamic>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 afb89b88891..ce53c6c07eb 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 3, 3>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 c883ee690dc..7f6d41d7763 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 3, 4>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 bdffdc5a98d..10f84afaaf0 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 3, 9>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 5d4139c23c3..047d473140a 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 3, Eigen::Dynamic>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 06b99df6622..12fdb861b34 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 4, 3>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 4bc1f44c2cd..0e29dc1781a 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 4, 4>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 573e40ca73f..4d4ac56537f 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<2, 4, Eigen::Dynamic>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 e1f17fedd1b..4ad7d4162c0 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<4, 4, 2>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 e7c750ade04..87f2fc58b58 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<4, 4, 3>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 d60ad71eedd..8b3f5703b95 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<4, 4, 4>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 12fa9789beb..b21feb2d3b3 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
@@ -40,6 +40,8 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -51,3 +53,4 @@ template class SchurEliminator<4, 4, Eigen::Dynamic>;
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION
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 fa34e39e42d..d483db7b578 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
@@ -40,6 +40,7 @@
 // This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
+
 #include "ceres/schur_eliminator_impl.h"
 #include "ceres/internal/eigen.h"
 
@@ -50,4 +51,3 @@ 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.cc b/extern/libmv/third_party/ceres/internal/ceres/line_search.cc
index e7508caec56..437f742607f 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/line_search.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/line_search.cc
@@ -28,6 +28,7 @@
 //
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
 #include "ceres/line_search.h"
 
 #include <glog/logging.h>
@@ -209,3 +210,5 @@ void ArmijoLineSearch::Search(const LineSearch::Options& options,
 
 }  // namespace internal
 }  // namespace ceres
+
+#endif  // CERES_NO_LINE_SEARCH_MINIMIZER
diff --git a/extern/libmv/third_party/ceres/internal/ceres/line_search.h b/extern/libmv/third_party/ceres/internal/ceres/line_search.h
index fccf63b598a..95bf56e2a6b 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/line_search.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/line_search.h
@@ -33,6 +33,8 @@
 #ifndef CERES_INTERNAL_LINE_SEARCH_H_
 #define CERES_INTERNAL_LINE_SEARCH_H_
 
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
+
 #include <glog/logging.h>
 #include <vector>
 #include "ceres/internal/eigen.h"
@@ -209,4 +211,5 @@ class ArmijoLineSearch : public LineSearch {
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_NO_LINE_SEARCH_MINIMIZER
 #endif  // CERES_INTERNAL_LINE_SEARCH_H_
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 1fc4de57e91..b8b582c3fb1 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
@@ -28,6 +28,8 @@
 //
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
+
 #include "ceres/line_search_direction.h"
 #include "ceres/line_search_minimizer.h"
 #include "ceres/low_rank_inverse_hessian.h"
@@ -143,3 +145,5 @@ LineSearchDirection::Create(const LineSearchDirection::Options& options) {
 
 }  // namespace internal
 }  // namespace ceres
+
+#endif  // CERES_NO_LINE_SEARCH_MINIMIZER
diff --git a/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.h b/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.h
index 71063ab8414..08747544bbe 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/line_search_direction.h
@@ -31,6 +31,8 @@
 #ifndef CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
 #define CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
 
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
+
 #include "ceres/internal/eigen.h"
 #include "ceres/line_search_minimizer.h"
 #include "ceres/types.h"
@@ -67,4 +69,5 @@ class LineSearchDirection {
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_NO_LINE_SEARCH_MINIMIZER
 #endif  // CERES_INTERNAL_LINE_SEARCH_DIRECTION_H_
diff --git a/extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.cc b/extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.cc
index ca7d639c5ef..684a7369b3a 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.cc
@@ -38,6 +38,8 @@
 // For details on the theory and implementation see "Numerical
 // Optimization" by Nocedal & Wright.
 
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
+
 #include "ceres/line_search_minimizer.h"
 
 #include <algorithm>
@@ -281,3 +283,5 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
 
 }  // namespace internal
 }  // namespace ceres
+
+#endif  // CERES_NO_LINE_SEARCH_MINIMIZER
diff --git a/extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.h b/extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.h
index f82f13984a8..59f5c3fb9a4 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/line_search_minimizer.h
@@ -31,6 +31,8 @@
 #ifndef CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
 #define CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
 
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
+
 #include "ceres/minimizer.h"
 #include "ceres/solver.h"
 #include "ceres/types.h"
@@ -74,4 +76,5 @@ class LineSearchMinimizer : public Minimizer {
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_NO_LINE_SEARCH_MINIMIZER
 #endif  // CERES_INTERNAL_LINE_SEARCH_MINIMIZER_H_
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 21d11442177..69d672ed9c6 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/problem_impl.cc
@@ -33,6 +33,7 @@
 
 #include <algorithm>
 #include <cstddef>
+#include <iterator>
 #include <set>
 #include <string>
 #include <utility>
@@ -56,18 +57,28 @@ namespace internal {
 
 typedef map<double*, internal::ParameterBlock*> ParameterMap;
 
+namespace {
+internal::ParameterBlock* FindParameterBlockOrDie(
+    const ParameterMap& parameter_map,
+    double* parameter_block) {
+  ParameterMap::const_iterator it = parameter_map.find(parameter_block);
+  CHECK(it != parameter_map.end())
+      << "Parameter block not found: " << parameter_block;
+  return it->second;
+}
+
 // Returns true if two regions of memory, a and b, with sizes size_a and size_b
 // respectively, overlap.
-static bool RegionsAlias(const double* a, int size_a,
-                         const double* b, int size_b) {
+bool RegionsAlias(const double* a, int size_a,
+                  const double* b, int size_b) {
   return (a < b) ? b < (a + size_a)
                  : a < (b + size_b);
 }
 
-static void CheckForNoAliasing(double* existing_block,
-                               int existing_block_size,
-                               double* new_block,
-                               int new_block_size) {
+void CheckForNoAliasing(double* existing_block,
+                        int existing_block_size,
+                        double* new_block,
+                        int new_block_size) {
   CHECK(!RegionsAlias(existing_block, existing_block_size,
                       new_block, new_block_size))
       << "Aliasing detected between existing parameter block at memory "
@@ -77,6 +88,8 @@ static void CheckForNoAliasing(double* existing_block,
       << "size " << new_block_size << ".";
 }
 
+}  // namespace
+
 ParameterBlock* ProblemImpl::InternalAddParameterBlock(double* values,
                                                        int size) {
   CHECK(values != NULL) << "Null pointer passed to AddParameterBlock "
@@ -471,7 +484,8 @@ void ProblemImpl::RemoveResidualBlock(ResidualBlock* residual_block) {
 }
 
 void ProblemImpl::RemoveParameterBlock(double* values) {
-  ParameterBlock* parameter_block = FindOrDie(parameter_block_map_, values);
+  ParameterBlock* parameter_block =
+      FindParameterBlockOrDie(parameter_block_map_, values);
 
   if (options_.enable_fast_parameter_block_removal) {
     // Copy the dependent residuals from the parameter block because the set of
@@ -503,17 +517,17 @@ void ProblemImpl::RemoveParameterBlock(double* values) {
 }
 
 void ProblemImpl::SetParameterBlockConstant(double* values) {
-  FindOrDie(parameter_block_map_, values)->SetConstant();
+  FindParameterBlockOrDie(parameter_block_map_, values)->SetConstant();
 }
 
 void ProblemImpl::SetParameterBlockVariable(double* values) {
-  FindOrDie(parameter_block_map_, values)->SetVarying();
+  FindParameterBlockOrDie(parameter_block_map_, values)->SetVarying();
 }
 
 void ProblemImpl::SetParameterization(
     double* values,
     LocalParameterization* local_parameterization) {
-  FindOrDie(parameter_block_map_, values)
+  FindParameterBlockOrDie(parameter_block_map_, values)
       ->SetParameterization(local_parameterization);
 }
 
@@ -557,7 +571,8 @@ bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
     parameter_blocks.resize(parameter_block_ptrs.size());
     for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
       parameter_blocks[i] =
-          FindOrDie(parameter_block_map_, parameter_block_ptrs[i]);
+          FindParameterBlockOrDie(parameter_block_map_,
+                                  parameter_block_ptrs[i]);
     }
 
     // 2. The user may have only supplied a subset of parameter
diff --git a/extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.cc b/extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.cc
index 17537596c75..e1be4e2a78a 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.cc
@@ -141,6 +141,7 @@ bool DenseSchurComplementSolver::SolveReducedLinearSystem(double* solution) {
   return true;
 }
 
+#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
 
 SparseSchurComplementSolver::SparseSchurComplementSolver(
     const LinearSolver::Options& options)
@@ -292,7 +293,7 @@ bool SparseSchurComplementSolver::SolveReducedLinearSystemUsingSuiteSparse(
     }
 
     if (VLOG_IS_ON(2)) {
-      cholmod_print_common("Symbolic Analysis", ss_.mutable_cc());
+      cholmod_print_common(const_cast<char*>("Symbolic Analysis"), ss_.mutable_cc());
     }
   }
 
@@ -365,5 +366,6 @@ bool SparseSchurComplementSolver::SolveReducedLinearSystemUsingCXSparse(
 }
 #endif  // CERES_NO_CXPARSE
 
+#endif  // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
 }  // namespace internal
 }  // namespace ceres
diff --git a/extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.h b/extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.h
index 7e98f316255..7c8d2e7ce38 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/schur_complement_solver.h
@@ -151,7 +151,7 @@ class DenseSchurComplementSolver : public SchurComplementSolver {
   CERES_DISALLOW_COPY_AND_ASSIGN(DenseSchurComplementSolver);
 };
 
-
+#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
 // Sparse Cholesky factorization based solver.
 class SparseSchurComplementSolver : public SchurComplementSolver {
  public:
@@ -182,6 +182,7 @@ class SparseSchurComplementSolver : public SchurComplementSolver {
   CERES_DISALLOW_COPY_AND_ASSIGN(SparseSchurComplementSolver);
 };
 
+#endif  // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARE)
 }  // namespace internal
 }  // namespace ceres
 
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 8dbf30f0379..31f83547b5f 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator.cc
@@ -1,6 +1,35 @@
-// Copyright 2011 Google Inc. All Rights Reserved.
+// 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.
+//
 // ========================================
 // THIS FILE IS AUTOGENERATED. DO NOT EDIT.
 // THIS FILE IS AUTOGENERATED. DO NOT EDIT.
@@ -8,7 +37,7 @@
 // THIS FILE IS AUTOGENERATED. DO NOT EDIT.
 //=========================================
 //
-// This file is generated using generate_template_specializations.py.
+// This file is generated using generate_eliminator_specializations.py.
 // Editing it manually is not recommended.
 
 #include "ceres/linear_solver.h"
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 e18d3b96333..ffc347ec9f0 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
@@ -268,7 +268,7 @@ void SolverImpl::TrustRegionMinimize(
       WallTimeInSeconds() - minimizer_start_time;
 }
 
-
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
 void SolverImpl::LineSearchMinimize(
     const Solver::Options& options,
     Program* program,
@@ -309,6 +309,7 @@ void SolverImpl::LineSearchMinimize(
   summary->minimizer_time_in_seconds =
       WallTimeInSeconds() - minimizer_start_time;
 }
+#endif  // CERES_NO_LINE_SEARCH_MINIMIZER
 
 void SolverImpl::Solve(const Solver::Options& options,
                        ProblemImpl* problem_impl,
@@ -316,7 +317,11 @@ void SolverImpl::Solve(const Solver::Options& options,
   if (options.minimizer_type == TRUST_REGION) {
     TrustRegionSolve(options, problem_impl, summary);
   } else {
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
     LineSearchSolve(options, problem_impl, summary);
+#else
+    LOG(FATAL) << "Ceres Solver was compiled with -DLINE_SEARCH_MINIMIZER=OFF";
+#endif
   }
 }
 
@@ -608,6 +613,8 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
   event_logger.AddEvent("PostProcess");
 }
 
+
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
 void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
                                  ProblemImpl* original_problem_impl,
                                  Solver::Summary* summary) {
@@ -661,7 +668,7 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
         << "to single threaded mode.";
     options.num_threads = 1;
   }
-#endif
+#endif  // CERES_USE_OPENMP
 
   summary->num_threads_given = original_options.num_threads;
   summary->num_threads_used = options.num_threads;
@@ -800,7 +807,7 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
   summary->postprocessor_time_in_seconds =
       WallTimeInSeconds() - post_process_start_time;
 }
-
+#endif  // CERES_NO_LINE_SEARCH_MINIMIZER
 
 bool SolverImpl::IsOrderingValid(const Solver::Options& options,
                                  const ProblemImpl* problem_impl,
diff --git a/extern/libmv/third_party/ceres/internal/ceres/solver_impl.h b/extern/libmv/third_party/ceres/internal/ceres/solver_impl.h
index c5f5efad3d7..c05483021a4 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/solver_impl.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/solver_impl.h
@@ -59,10 +59,29 @@ class SolverImpl {
                                ProblemImpl* problem_impl,
                                Solver::Summary* summary);
 
+  // Run the TrustRegionMinimizer for the given evaluator and configuration.
+  static void TrustRegionMinimize(
+      const Solver::Options &options,
+      Program* program,
+      CoordinateDescentMinimizer* inner_iteration_minimizer,
+      Evaluator* evaluator,
+      LinearSolver* linear_solver,
+      double* parameters,
+      Solver::Summary* summary);
+
+#ifndef CERES_NO_LINE_SEARCH_MINIMIZER
   static void LineSearchSolve(const Solver::Options& options,
                               ProblemImpl* problem_impl,
                               Solver::Summary* summary);
 
+  // Run the LineSearchMinimizer for the given evaluator and configuration.
+  static void LineSearchMinimize(const Solver::Options &options,
+                                 Program* program,
+                                 Evaluator* evaluator,
+                                 double* parameters,
+                                 Solver::Summary* summary);
+#endif  // CERES_NO_LINE_SEARCH_MINIMIZER
+
   // Create the transformed Program, which has all the fixed blocks
   // and residuals eliminated, and in the case of automatic schur
   // ordering, has the E blocks first in the resulting program, with
@@ -108,24 +127,6 @@ class SolverImpl {
       Program* program,
       string* error);
 
-  // Run the TrustRegionMinimizer for the given evaluator and configuration.
-  static void TrustRegionMinimize(
-      const Solver::Options &options,
-      Program* program,
-      CoordinateDescentMinimizer* inner_iteration_minimizer,
-      Evaluator* evaluator,
-      LinearSolver* linear_solver,
-      double* parameters,
-      Solver::Summary* summary);
-
-  // Run the LineSearchMinimizer for the given evaluator and configuration.
-  static void LineSearchMinimize(
-      const Solver::Options &options,
-      Program* program,
-      Evaluator* evaluator,
-      double* parameters,
-      Solver::Summary* summary);
-
   // Remove the fixed or unused parameter blocks and residuals
   // depending only on fixed parameters from the problem. Also updates
   // num_eliminate_blocks, since removed parameters changes the point
diff --git a/extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.cc b/extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.cc
index dd05f0c6f41..195cacb984c 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.cc
@@ -28,6 +28,8 @@
 //
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 
+#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)
+
 #include "ceres/sparse_normal_cholesky_solver.h"
 
 #include <algorithm>
@@ -213,7 +215,7 @@ LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
     }
 
     if (VLOG_IS_ON(2)) {
-      cholmod_print_common("Symbolic Analysis", ss_.mutable_cc());
+      cholmod_print_common(const_cast<char*>("Symbolic Analysis"), ss_.mutable_cc());
     }
   }
 
@@ -257,3 +259,5 @@ LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
 
 }   // namespace internal
 }   // namespace ceres
+
+#endif  // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)
diff --git a/extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.h b/extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.h
index 8d48096d4c6..ebb32e61939 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/sparse_normal_cholesky_solver.h
@@ -34,6 +34,8 @@
 #ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
 #define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
 
+#if !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)
+
 #include "ceres/cxsparse.h"
 #include "ceres/internal/macros.h"
 #include "ceres/linear_solver.h"
@@ -90,4 +92,5 @@ class SparseNormalCholeskySolver : public CompressedRowSparseMatrixSolver {
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // !defined(CERES_NO_SUITESPARSE) || !defined(CERES_NO_CXSPARSE)
 #endif  // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
diff --git a/extern/libmv/third_party/ceres/internal/ceres/visibility.cc b/extern/libmv/third_party/ceres/internal/ceres/visibility.cc
index 371bdfacd52..fcd793c00a8 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/visibility.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/visibility.cc
@@ -28,6 +28,8 @@
 //
 // Author: kushalav@google.com (Avanish Kushal)
 
+#ifndef CERES_NO_SUITESPARSE
+
 #include "ceres/visibility.h"
 
 #include <cmath>
@@ -150,3 +152,5 @@ Graph<int>* CreateSchurComplementGraph(const vector<set<int> >& visibility) {
 
 }  // namespace internal
 }  // namespace ceres
+
+#endif
diff --git a/extern/libmv/third_party/ceres/internal/ceres/visibility.h b/extern/libmv/third_party/ceres/internal/ceres/visibility.h
index f29e3c6a0a8..2d1e6f85ddf 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/visibility.h
+++ b/extern/libmv/third_party/ceres/internal/ceres/visibility.h
@@ -35,6 +35,8 @@
 #ifndef CERES_INTERNAL_VISIBILITY_H_
 #define CERES_INTERNAL_VISIBILITY_H_
 
+#ifndef CERES_NO_SUITESPARSE
+
 #include <set>
 #include <vector>
 #include "ceres/graph.h"
@@ -74,4 +76,5 @@ Graph<int>* CreateSchurComplementGraph(const vector<set<int> >& visibility);
 }  // namespace internal
 }  // namespace ceres
 
+#endif  // CERES_NO_SUITESPARSE
 #endif  // CERES_INTERNAL_VISIBILITY_H_
diff --git a/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.cc b/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.cc
index a75d6f0c17e..1678d0072e5 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/visibility_based_preconditioner.cc
@@ -28,6 +28,8 @@
 //
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 
+#ifndef CERES_NO_SUITESPARSE
+
 #include "ceres/visibility_based_preconditioner.h"
 
 #include <algorithm>
@@ -62,7 +64,6 @@ namespace internal {
 static const double kSizePenaltyWeight = 3.0;
 static const double kSimilarityPenaltyWeight = 0.0;
 
-#ifndef CERES_NO_SUITESPARSE
 VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
     const CompressedRowBlockStructure& bs,
     const Preconditioner::Options& options)
@@ -427,7 +428,7 @@ bool VisibilityBasedPreconditioner::Factorize() {
     }
 
     if (VLOG_IS_ON(2)) {
-      cholmod_print_common("Symbolic Analysis", ss_.mutable_cc());
+      cholmod_print_common(const_cast<char*>("Symbolic Analysis"), ss_.mutable_cc());
     }
   }
 
@@ -584,7 +585,7 @@ void VisibilityBasedPreconditioner::FlattenMembershipMap(
   }
 }
 
-#endif  // CERES_NO_SUITESPARSE
-
 }  // namespace internal
 }  // namespace ceres
+
+#endif  // CERES_NO_SUITESPARSE