Update Ceres to the latest versionandroid-sdk-4.4.2_r1.0.1android-sdk-4.4.2_r1android-l-preview_r2android-cts-4.4_r4android-cts-4.4_r1android-4.4w_r1android-4.4_r1.2.0.1android-4.4_r1.2android-4.4_r1.1.0.1android-4.4_r1.1android-4.4_r1.0.1android-4.4_r1android-4.4_r0.9android-4.4_r0.8android-4.4_r0.7android-4.4.4_r2.0.1android-4.4.4_r2android-4.4.4_r1.0.1android-4.4.4_r1android-4.4.3_r1.1.0.1android-4.4.3_r1.1android-4.4.3_r1.0.1android-4.4.3_r1android-4.4.2_r2.0.1android-4.4.2_r2android-4.4.2_r1.0.1android-4.4.2_r1android-4.4.1_r1.0.1android-4.4.1_r1l-previewkitkat-wearkitkat-releasekitkat-mr2.2-releasekitkat-mr2.1-releasekitkat-mr2-releasekitkat-mr1.1-releasekitkat-mr1-releasekitkat-devkitkat-cts-releasekitkat-cts-devidea133-weekly-releaseidea133

Bug: 10673139
Bug: 10621282

Change-Id: Ib740a6e0e29049cc203da9f083b0d4f5734a2741

2 files changed, 33 insertions, 6 deletions

diff --git a/include/ceres/solver.h b/include/ceres/solver.h
index e7b8d09..25b762a 100644
--- a/include/ceres/solver.h
+++ b/include/ceres/solver.h
@@ -73,7 +73,6 @@ class Solver {
       max_num_line_search_direction_restarts = 5;
       line_search_sufficient_curvature_decrease = 0.9;
       max_line_search_step_expansion = 10.0;
-
       trust_region_strategy_type = LEVENBERG_MARQUARDT;
       dogleg_type = TRADITIONAL_DOGLEG;
       use_nonmonotonic_steps = false;
@@ -100,11 +99,13 @@ class Solver {
 
       preconditioner_type = JACOBI;
 
-      sparse_linear_algebra_library = SUITE_SPARSE;
+      dense_linear_algebra_library_type = EIGEN;
+      sparse_linear_algebra_library_type = SUITE_SPARSE;
 #if defined(CERES_NO_SUITESPARSE) && !defined(CERES_NO_CXSPARSE)
-      sparse_linear_algebra_library = CX_SPARSE;
+      sparse_linear_algebra_library_type = CX_SPARSE;
 #endif
 
+
       num_linear_solver_threads = 1;
       linear_solver_ordering = NULL;
       use_postordering = false;
@@ -384,11 +385,24 @@ class Solver {
     // Type of preconditioner to use with the iterative linear solvers.
     PreconditionerType preconditioner_type;
 
+    // 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
+    // available.
+    //
+    // This setting affects the DENSE_QR, DENSE_NORMAL_CHOLESKY and
+    // DENSE_SCHUR solvers. For small to moderate sized probem EIGEN
+    // is a fine choice but for large problems, an optimized LAPACK +
+    // BLAS implementation can make a substantial difference in
+    // performance.
+    DenseLinearAlgebraLibraryType dense_linear_algebra_library_type;
+
     // 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;
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
 
     // Number of threads used by Ceres to solve the Newton
     // step. Currently only the SPARSE_SCHUR solver is capable of
@@ -783,7 +797,8 @@ class Solver {
     TrustRegionStrategyType trust_region_strategy_type;
     DoglegType dogleg_type;
 
-    SparseLinearAlgebraLibraryType sparse_linear_algebra_library;
+    DenseLinearAlgebraLibraryType dense_linear_algebra_library_type;
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
 
     LineSearchDirectionType line_search_direction_type;
     LineSearchType line_search_type;
diff --git a/include/ceres/types.h b/include/ceres/types.h
index a967541..ffa743a 100644
--- a/include/ceres/types.h
+++ b/include/ceres/types.h
@@ -126,6 +126,11 @@ enum SparseLinearAlgebraLibraryType {
   CX_SPARSE
 };
 
+enum DenseLinearAlgebraLibraryType {
+  EIGEN,
+  LAPACK
+};
+
 enum LinearSolverTerminationType {
   // Termination criterion was met. For factorization based solvers
   // the tolerance is assumed to be zero. Any user provided values are
@@ -401,6 +406,12 @@ bool StringToSparseLinearAlgebraLibraryType(
     string value,
     SparseLinearAlgebraLibraryType* type);
 
+const char* DenseLinearAlgebraLibraryTypeToString(
+    DenseLinearAlgebraLibraryType type);
+bool StringToDenseLinearAlgebraLibraryType(
+    string value,
+    DenseLinearAlgebraLibraryType* type);
+
 const char* TrustRegionStrategyTypeToString(TrustRegionStrategyType type);
 bool StringToTrustRegionStrategyType(string value,
                                      TrustRegionStrategyType* type);
@@ -444,7 +455,8 @@ const char* SolverTerminationTypeToString(SolverTerminationType type);
 bool IsSchurType(LinearSolverType type);
 bool IsSparseLinearAlgebraLibraryTypeAvailable(
     SparseLinearAlgebraLibraryType type);
-
+bool IsDenseLinearAlgebraLibraryTypeAvailable(
+    DenseLinearAlgebraLibraryType type);
 
 }  // namespace ceres