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, 29 insertions, 0 deletions

diff --git a/internal/ceres/compressed_row_sparse_matrix.h b/internal/ceres/compressed_row_sparse_matrix.h
index c5721eb..a0ba7ee 100644
--- a/internal/ceres/compressed_row_sparse_matrix.h
+++ b/internal/ceres/compressed_row_sparse_matrix.h
@@ -115,6 +115,9 @@ class CompressedRowSparseMatrix : public SparseMatrix {
   const vector<int>& col_blocks() const { return col_blocks_; }
   vector<int>* mutable_col_blocks() { return &col_blocks_; }
 
+  // Destructive array resizing method.
+  void SetMaxNumNonZeros(int num_nonzeros);
+
   // Non-destructive array resizing method.
   void set_num_rows(const int num_rows) { num_rows_ = num_rows; }
   void set_num_cols(const int num_cols) { num_cols_ = num_cols; }
@@ -128,6 +131,32 @@ class CompressedRowSparseMatrix : public SparseMatrix {
       const double* diagonal,
       const vector<int>& blocks);
 
+  // Compute the sparsity structure of the product m.transpose() * m
+  // and create a CompressedRowSparseMatrix corresponding to it.
+  //
+  // Also compute a "program" vector, which for every term in the
+  // outer product points to the entry in the values array of the
+  // result matrix where it should be accumulated.
+  //
+  // This program is used by the ComputeOuterProduct function below to
+  // compute the outer product.
+  //
+  // Since the entries of the program are the same for rows with the
+  // same sparsity structure, the program only stores the result for
+  // one row per row block. The ComputeOuterProduct function reuses
+  // this information for each row in the row block.
+  static CompressedRowSparseMatrix* CreateOuterProductMatrixAndProgram(
+      const CompressedRowSparseMatrix& m,
+      vector<int>* program);
+
+  // Compute the values array for the expression m.transpose() * m,
+  // where the matrix used to store the result and a program have been
+  // created using the CreateOuterProductMatrixAndProgram function
+  // above.
+  static void ComputeOuterProduct(const CompressedRowSparseMatrix& m,
+                                  const vector<int>& program,
+                                  CompressedRowSparseMatrix* result);
+
  private:
   int num_rows_;
   int num_cols_;