1 files changed, 11 insertions, 79 deletions

diff --git a/extern/ceres/internal/ceres/dense_sparse_matrix.cc b/extern/ceres/internal/ceres/dense_sparse_matrix.cc
index 53207fe300e..8b967f2ade7 100644
--- a/extern/ceres/internal/ceres/dense_sparse_matrix.cc
+++ b/extern/ceres/internal/ceres/dense_sparse_matrix.cc
@@ -31,9 +31,10 @@
 #include "ceres/dense_sparse_matrix.h"
 
 #include <algorithm>
+#include <utility>
 
 #include "ceres/internal/eigen.h"
-#include "ceres/internal/port.h"
+#include "ceres/internal/export.h"
 #include "ceres/triplet_sparse_matrix.h"
 #include "glog/logging.h"
 
@@ -41,28 +42,10 @@ namespace ceres {
 namespace internal {
 
 DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
-    : has_diagonal_appended_(false), has_diagonal_reserved_(false) {
-  m_.resize(num_rows, num_cols);
-  m_.setZero();
-}
-
-DenseSparseMatrix::DenseSparseMatrix(int num_rows,
-                                     int num_cols,
-                                     bool reserve_diagonal)
-    : has_diagonal_appended_(false), has_diagonal_reserved_(reserve_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);
-  }
-  m_.setZero();
-}
+    : m_(Matrix(num_rows, num_cols)) {}
 
 DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
-    : m_(Eigen::MatrixXd::Zero(m.num_rows(), m.num_cols())),
-      has_diagonal_appended_(false),
-      has_diagonal_reserved_(false) {
+    : m_(Matrix::Zero(m.num_rows(), m.num_cols())) {
   const double* values = m.values();
   const int* rows = m.rows();
   const int* cols = m.cols();
@@ -73,8 +56,7 @@ DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
   }
 }
 
-DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m)
-    : m_(m), has_diagonal_appended_(false), has_diagonal_reserved_(false) {}
+DenseSparseMatrix::DenseSparseMatrix(Matrix m) : m_(std::move(m)) {}
 
 void DenseSparseMatrix::SetZero() { m_.setZero(); }
 
@@ -96,72 +78,22 @@ void DenseSparseMatrix::ScaleColumns(const double* scale) {
 }
 
 void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
-  *dense_matrix = m_.block(0, 0, num_rows(), num_cols());
+  *dense_matrix = m_;
 }
 
-void DenseSparseMatrix::AppendDiagonal(double* d) {
-  CHECK(!has_diagonal_appended_);
-  if (!has_diagonal_reserved_) {
-    ColMajorMatrix tmp = m_;
-    m_.resize(m_.rows() + m_.cols(), m_.cols());
-    m_.setZero();
-    m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
-    has_diagonal_reserved_ = true;
-  }
-
-  m_.bottomLeftCorner(m_.cols(), m_.cols()) =
-      ConstVectorRef(d, m_.cols()).asDiagonal();
-  has_diagonal_appended_ = true;
-}
-
-void DenseSparseMatrix::RemoveDiagonal() {
-  CHECK(has_diagonal_appended_);
-  has_diagonal_appended_ = false;
-  // Leave the diagonal reserved.
-}
-
-int DenseSparseMatrix::num_rows() const {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return m_.rows() - m_.cols();
-  }
-  return m_.rows();
-}
+int DenseSparseMatrix::num_rows() const { return m_.rows(); }
 
 int DenseSparseMatrix::num_cols() const { return m_.cols(); }
 
-int DenseSparseMatrix::num_nonzeros() const {
-  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
-    return (m_.rows() - m_.cols()) * m_.cols();
-  }
-  return m_.rows() * m_.cols();
-}
+int DenseSparseMatrix::num_nonzeros() const { return 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));
-}
+const Matrix& DenseSparseMatrix::matrix() const { return m_; }
 
-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));
-}
+Matrix* DenseSparseMatrix::mutable_matrix() { return &m_; }
 
 void DenseSparseMatrix::ToTextFile(FILE* file) const {
   CHECK(file != nullptr);
-  const int active_rows = (has_diagonal_reserved_ && !has_diagonal_appended_)
-                              ? (m_.rows() - m_.cols())
-                              : m_.rows();
-
-  for (int r = 0; r < active_rows; ++r) {
+  for (int r = 0; r < m_.rows(); ++r) {
     for (int c = 0; c < m_.cols(); ++c) {
       fprintf(file, "% 10d % 10d %17f\n", r, c, m_(r, c));
     }