1 files changed, 19 insertions, 15 deletions

diff --git a/extern/ceres/internal/ceres/evaluator.h b/extern/ceres/internal/ceres/evaluator.h
index 9cf42593e95..68a4fb28a55 100644
--- a/extern/ceres/internal/ceres/evaluator.h
+++ b/extern/ceres/internal/ceres/evaluator.h
@@ -33,12 +33,14 @@
 #define CERES_INTERNAL_EVALUATOR_H_
 
 #include <map>
+#include <memory>
 #include <string>
 #include <vector>
 
 #include "ceres/context_impl.h"
 #include "ceres/execution_summary.h"
-#include "ceres/internal/port.h"
+#include "ceres/internal/disable_warnings.h"
+#include "ceres/internal/export.h"
 #include "ceres/types.h"
 
 namespace ceres {
@@ -54,8 +56,8 @@ class SparseMatrix;
 // The Evaluator interface offers a way to interact with a least squares cost
 // function that is useful for an optimizer that wants to minimize the least
 // squares objective. This insulates the optimizer from issues like Jacobian
-// storage, parameterization, etc.
-class CERES_EXPORT_INTERNAL Evaluator {
+// storage, manifolds, etc.
+class CERES_NO_EXPORT Evaluator {
  public:
   virtual ~Evaluator();
 
@@ -68,9 +70,9 @@ class CERES_EXPORT_INTERNAL Evaluator {
     EvaluationCallback* evaluation_callback = nullptr;
   };
 
-  static Evaluator* Create(const Options& options,
-                           Program* program,
-                           std::string* error);
+  static std::unique_ptr<Evaluator> Create(const Options& options,
+                                           Program* program,
+                                           std::string* error);
 
   // Build and return a sparse matrix for storing and working with the Jacobian
   // of the objective function. The jacobian has dimensions
@@ -88,7 +90,7 @@ class CERES_EXPORT_INTERNAL Evaluator {
   // the jacobian for use with CHOLMOD, where as BlockOptimizationProblem
   // creates a BlockSparseMatrix representation of the jacobian for use in the
   // Schur complement based methods.
-  virtual SparseMatrix* CreateJacobian() const = 0;
+  virtual std::unique_ptr<SparseMatrix> CreateJacobian() const = 0;
 
   // Options struct to control Evaluator::Evaluate;
   struct EvaluateOptions {
@@ -102,10 +104,10 @@ class CERES_EXPORT_INTERNAL Evaluator {
 
   // 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.
+  // jacobian are optional; to avoid computing them, pass nullptr.
   //
-  // If non-NULL, the Jacobian must have a suitable sparsity pattern; only the
-  // values array of the jacobian is modified.
+  // If non-nullptr, the Jacobian must have a suitable sparsity pattern; only
+  // the values array of the jacobian is modified.
   //
   // 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().
@@ -131,13 +133,13 @@ class CERES_EXPORT_INTERNAL Evaluator {
   // Make a change delta (of size NumEffectiveParameters()) to state (of size
   // NumParameters()) and store the result in state_plus_delta.
   //
-  // In the case that there are no parameterizations used, this is equivalent to
+  // In the case that there are no manifolds used, this is equivalent to
   //
   //   state_plus_delta[i] = state[i] + delta[i] ;
   //
-  // however, the mapping is more complicated in the case of parameterizations
+  // however, the mapping is more complicated in the case of manifolds
   // like quaternions. This is the same as the "Plus()" operation in
-  // local_parameterization.h, but operating over the entire state vector for a
+  // manifold.h, but operating over the entire state vector for a
   // problem.
   virtual bool Plus(const double* state,
                     const double* delta,
@@ -147,7 +149,7 @@ class CERES_EXPORT_INTERNAL Evaluator {
   virtual int NumParameters() const = 0;
 
   // This is the effective number of parameters that the optimizer may adjust.
-  // This applies when there are parameterizations on some of the parameters.
+  // This applies when there are manifolds on some of the parameters.
   virtual int NumEffectiveParameters() const = 0;
 
   // The number of residuals in the optimization problem.
@@ -158,11 +160,13 @@ class CERES_EXPORT_INTERNAL Evaluator {
   // life time issues. Further, these calls are not expected to be
   // frequent or performance sensitive.
   virtual std::map<std::string, CallStatistics> Statistics() const {
-    return std::map<std::string, CallStatistics>();
+    return {};
   }
 };
 
 }  // namespace internal
 }  // namespace ceres
 
+#include "ceres/internal/reenable_warnings.h"
+
 #endif  // CERES_INTERNAL_EVALUATOR_H_