Update ceres to the latest version in g3android-wear-5.0.0_r1android-cts-5.1_r9android-cts-5.1_r8android-cts-5.1_r7android-cts-5.1_r6android-cts-5.1_r5android-cts-5.1_r4android-cts-5.1_r3android-cts-5.1_r28android-cts-5.1_r27android-cts-5.1_r26android-cts-5.1_r25android-cts-5.1_r24android-cts-5.1_r23android-cts-5.1_r22android-cts-5.1_r21android-cts-5.1_r20android-cts-5.1_r2android-cts-5.1_r19android-cts-5.1_r18android-cts-5.1_r17android-cts-5.1_r16android-cts-5.1_r15android-cts-5.1_r14android-cts-5.1_r13android-cts-5.1_r10android-cts-5.1_r1android-cts-5.0_r9android-cts-5.0_r8android-cts-5.0_r7android-cts-5.0_r6android-cts-5.0_r5android-cts-5.0_r4android-cts-5.0_r3android-5.1.1_r9android-5.1.1_r8android-5.1.1_r7android-5.1.1_r6android-5.1.1_r5android-5.1.1_r4android-5.1.1_r38android-5.1.1_r37android-5.1.1_r36android-5.1.1_r35android-5.1.1_r34android-5.1.1_r33android-5.1.1_r30android-5.1.1_r3android-5.1.1_r29android-5.1.1_r28android-5.1.1_r26android-5.1.1_r25android-5.1.1_r24android-5.1.1_r23android-5.1.1_r22android-5.1.1_r20android-5.1.1_r2android-5.1.1_r19android-5.1.1_r18android-5.1.1_r17android-5.1.1_r16android-5.1.1_r15android-5.1.1_r14android-5.1.1_r13android-5.1.1_r12android-5.1.1_r10android-5.1.1_r1android-5.1.0_r5android-5.1.0_r4android-5.1.0_r3android-5.1.0_r1android-5.0.2_r3android-5.0.2_r1android-5.0.1_r1android-5.0.0_r7android-5.0.0_r6android-5.0.0_r5.1android-5.0.0_r5android-5.0.0_r4android-5.0.0_r3android-5.0.0_r2android-5.0.0_r1lollipop-wear-releaselollipop-releaselollipop-mr1-wfc-releaselollipop-mr1-releaselollipop-mr1-fi-releaselollipop-mr1-devlollipop-mr1-cts-releaselollipop-devlollipop-cts-release

Please pay special attention to the changes in Android.mk.
They are the only real changes I had to make.

Bug: 16953678

Change-Id: I44a644358e779aaff99a2ea822387fe49ac26888

1 files changed, 10 insertions, 8 deletions

diff --git a/internal/ceres/cgnr_solver.cc b/internal/ceres/cgnr_solver.cc
index 9b8f980..88e61d9 100644
--- a/internal/ceres/cgnr_solver.cc
+++ b/internal/ceres/cgnr_solver.cc
@@ -33,6 +33,7 @@
 #include "ceres/block_jacobi_preconditioner.h"
 #include "ceres/cgnr_linear_operator.h"
 #include "ceres/conjugate_gradients_solver.h"
+#include "ceres/internal/eigen.h"
 #include "ceres/linear_solver.h"
 #include "ceres/wall_time.h"
 #include "glog/logging.h"
@@ -43,6 +44,10 @@ namespace internal {
 CgnrSolver::CgnrSolver(const LinearSolver::Options& options)
   : options_(options),
     preconditioner_(NULL) {
+  if (options_.preconditioner_type != JACOBI &&
+      options_.preconditioner_type != IDENTITY) {
+    LOG(FATAL) << "CGNR only supports IDENTITY and JACOBI preconditioners.";
+  }
 }
 
 LinearSolver::Summary CgnrSolver::SolveImpl(
@@ -53,9 +58,9 @@ LinearSolver::Summary CgnrSolver::SolveImpl(
   EventLogger event_logger("CgnrSolver::Solve");
 
   // Form z = Atb.
-  scoped_array<double> z(new double[A->num_cols()]);
-  std::fill(z.get(), z.get() + A->num_cols(), 0.0);
-  A->LeftMultiply(b, z.get());
+  Vector z(A->num_cols());
+  z.setZero();
+  A->LeftMultiply(b, z.data());
 
   // Precondition if necessary.
   LinearSolver::PerSolveOptions cg_per_solve_options = per_solve_options;
@@ -65,20 +70,17 @@ LinearSolver::Summary CgnrSolver::SolveImpl(
     }
     preconditioner_->Update(*A, per_solve_options.D);
     cg_per_solve_options.preconditioner = preconditioner_.get();
-  } else if (options_.preconditioner_type != IDENTITY) {
-    LOG(FATAL) << "CGNR only supports IDENTITY and JACOBI preconditioners.";
   }
 
   // Solve (AtA + DtD)x = z (= Atb).
-  std::fill(x, x + A->num_cols(), 0.0);
+  VectorRef(x, A->num_cols()).setZero();
   CgnrLinearOperator lhs(*A, per_solve_options.D);
   event_logger.AddEvent("Setup");
 
   ConjugateGradientsSolver conjugate_gradient_solver(options_);
   LinearSolver::Summary summary =
-      conjugate_gradient_solver.Solve(&lhs, z.get(), cg_per_solve_options, x);
+      conjugate_gradient_solver.Solve(&lhs, z.data(), cg_per_solve_options, x);
   event_logger.AddEvent("Solve");
-
   return summary;
 }