1 files changed, 21 insertions, 19 deletions

diff --git a/extern/ceres/include/ceres/solver.h b/extern/ceres/include/ceres/solver.h
index 61b8dd53eb3..026fc1c0830 100644
--- a/extern/ceres/include/ceres/solver.h
+++ b/extern/ceres/include/ceres/solver.h
@@ -38,8 +38,9 @@
 #include <vector>
 
 #include "ceres/crs_matrix.h"
+#include "ceres/internal/config.h"
 #include "ceres/internal/disable_warnings.h"
-#include "ceres/internal/port.h"
+#include "ceres/internal/export.h"
 #include "ceres/iteration_callback.h"
 #include "ceres/ordered_groups.h"
 #include "ceres/problem.h"
@@ -363,23 +364,23 @@ class CERES_EXPORT Solver {
     std::unordered_set<ResidualBlockId>
         residual_blocks_for_subset_preconditioner;
 
-    // Ceres supports using multiple dense linear algebra libraries
-    // for dense matrix factorizations. Currently EIGEN and LAPACK are
-    // the valid choices. EIGEN is always available, LAPACK refers to
-    // the system BLAS + LAPACK library which may or may not be
+    // Ceres supports using multiple dense linear algebra libraries for dense
+    // matrix factorizations. Currently EIGEN, LAPACK and CUDA are the valid
+    // choices. EIGEN is always available, LAPACK refers to the system BLAS +
+    // LAPACK library which may or may not be available. CUDA refers to Nvidia's
+    // GPU based dense linear algebra library, which may or may not be
     // available.
     //
-    // This setting affects the DENSE_QR, DENSE_NORMAL_CHOLESKY and
-    // DENSE_SCHUR solvers. For small to moderate sized problem EIGEN
-    // is a fine choice but for large problems, an optimized LAPACK +
-    // BLAS implementation can make a substantial difference in
-    // performance.
+    // This setting affects the DENSE_QR, DENSE_NORMAL_CHOLESKY and DENSE_SCHUR
+    // solvers. For small to moderate sized problem EIGEN is a fine choice but
+    // for large problems, an optimized LAPACK + BLAS or CUDA implementation can
+    // make a substantial difference in performance.
     DenseLinearAlgebraLibraryType dense_linear_algebra_library_type = EIGEN;
 
-    // Ceres supports using multiple sparse linear algebra libraries
-    // for sparse matrix ordering and factorizations. Currently,
-    // SUITE_SPARSE and CX_SPARSE are the valid choices, depending on
-    // whether they are linked into Ceres at build time.
+    // Ceres supports using multiple sparse linear algebra libraries for sparse
+    // matrix ordering and factorizations. Currently, SUITE_SPARSE and CX_SPARSE
+    // are the valid choices, depending on whether they are linked into Ceres at
+    // build time.
     SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type =
 #if !defined(CERES_NO_SUITESPARSE)
         SUITE_SPARSE;
@@ -423,7 +424,7 @@ class CERES_EXPORT Solver {
     // each group, Ceres is free to order the parameter blocks as it
     // chooses.
     //
-    // If NULL, then all parameter blocks are assumed to be in the
+    // If nullptr, then all parameter blocks are assumed to be in the
     // same group and the solver is free to decide the best
     // ordering.
     //
@@ -536,8 +537,9 @@ class CERES_EXPORT Solver {
     // max_num_refinement_iterations to 2-3.
     //
     // NOTE2: The following two options are currently only applicable
-    // if sparse_linear_algebra_library_type is EIGEN_SPARSE and
-    // linear_solver_type is SPARSE_NORMAL_CHOLESKY, or SPARSE_SCHUR.
+    // if sparse_linear_algebra_library_type is EIGEN_SPARSE or
+    // ACCELERATE_SPARSE, and linear_solver_type is SPARSE_NORMAL_CHOLESKY
+    // or SPARSE_SCHUR.
     bool use_mixed_precision_solves = false;
 
     // Number steps of the iterative refinement process to run when
@@ -882,7 +884,7 @@ class CERES_EXPORT Solver {
     // Dimension of the tangent space of the problem (or the number of
     // columns in the Jacobian for the problem). This is different
     // from num_parameters if a parameter block is associated with a
-    // LocalParameterization
+    // LocalParameterization/Manifold.
     int num_effective_parameters = -1;
 
     // Number of residual blocks in the problem.
@@ -903,7 +905,7 @@ class CERES_EXPORT Solver {
     // number of columns in the Jacobian for the reduced
     // problem). This is different from num_parameters_reduced if a
     // parameter block in the reduced problem is associated with a
-    // LocalParameterization.
+    // LocalParameterization/Manifold.
     int num_effective_parameters_reduced = -1;
 
     // Number of residual blocks in the reduced problem.