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diff --git a/extern/ceres/internal/ceres/block_jacobi_preconditioner.cc b/extern/ceres/internal/ceres/block_jacobi_preconditioner.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// 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: keir@google.com (Keir Mierle)
+
+#include "ceres/block_jacobi_preconditioner.h"
+
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/block_random_access_diagonal_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+BlockJacobiPreconditioner::BlockJacobiPreconditioner(
+    const BlockSparseMatrix& A) {
+  const CompressedRowBlockStructure* bs = A.block_structure();
+  std::vector<int> blocks(bs->cols.size());
+  for (int i = 0; i < blocks.size(); ++i) {
+    blocks[i] = bs->cols[i].size;
+  }
+
+  m_.reset(new BlockRandomAccessDiagonalMatrix(blocks));
+}
+
+BlockJacobiPreconditioner::~BlockJacobiPreconditioner() {}
+
+bool BlockJacobiPreconditioner::UpdateImpl(const BlockSparseMatrix& A,
+                                           const double* D) {
+  const CompressedRowBlockStructure* bs = A.block_structure();
+  const double* values = A.values();
+  m_->SetZero();
+  for (int i = 0; i < bs->rows.size(); ++i) {
+    const int row_block_size = bs->rows[i].block.size;
+    const std::vector<Cell>& cells = bs->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      const int block_id = cells[j].block_id;
+      const int col_block_size = bs->cols[block_id].size;
+
+      int r, c, row_stride, col_stride;
+      CellInfo* cell_info = m_->GetCell(block_id, block_id,
+                                        &r, &c,
+                                        &row_stride, &col_stride);
+      MatrixRef m(cell_info->values, row_stride, col_stride);
+      ConstMatrixRef b(values + cells[j].position,
+                       row_block_size,
+                       col_block_size);
+      m.block(r, c, col_block_size, col_block_size) += b.transpose() * b;
+    }
+  }
+
+  if (D != NULL) {
+    // Add the diagonal.
+    int position = 0;
+    for (int i = 0; i < bs->cols.size(); ++i) {
+      const int block_size = bs->cols[i].size;
+      int r, c, row_stride, col_stride;
+      CellInfo* cell_info = m_->GetCell(i, i,
+                                        &r, &c,
+                                        &row_stride, &col_stride);
+      MatrixRef m(cell_info->values, row_stride, col_stride);
+      m.block(r, c, block_size, block_size).diagonal() +=
+          ConstVectorRef(D + position, block_size).array().square().matrix();
+      position += block_size;
+    }
+  }
+
+  m_->Invert();
+  return true;
+}
+
+void BlockJacobiPreconditioner::RightMultiply(const double* x,
+                                              double* y) const {
+  m_->RightMultiply(x, y);
+}
+
+}  // namespace internal
+}  // namespace ceres