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, 36 insertions, 2 deletions

diff --git a/internal/ceres/coordinate_descent_minimizer.cc b/internal/ceres/coordinate_descent_minimizer.cc
index c4da987..3b0553e 100644
--- a/internal/ceres/coordinate_descent_minimizer.cc
+++ b/internal/ceres/coordinate_descent_minimizer.cc
@@ -40,15 +40,15 @@
 #include "ceres/evaluator.h"
 #include "ceres/linear_solver.h"
 #include "ceres/minimizer.h"
-#include "ceres/ordered_groups.h"
 #include "ceres/parameter_block.h"
+#include "ceres/parameter_block_ordering.h"
 #include "ceres/problem_impl.h"
 #include "ceres/program.h"
 #include "ceres/residual_block.h"
 #include "ceres/solver.h"
-#include "ceres/solver_impl.h"
 #include "ceres/trust_region_minimizer.h"
 #include "ceres/trust_region_strategy.h"
+#include "ceres/parameter_block_ordering.h"
 
 namespace ceres {
 namespace internal {
@@ -227,10 +227,44 @@ void CoordinateDescentMinimizer::Solve(Program* program,
   minimizer_options.evaluator = evaluator.get();
   minimizer_options.jacobian = jacobian.get();
   minimizer_options.trust_region_strategy = trust_region_strategy.get();
+  minimizer_options.is_silent = true;
 
   TrustRegionMinimizer minimizer;
   minimizer.Minimize(minimizer_options, parameter, summary);
 }
 
+bool CoordinateDescentMinimizer::IsOrderingValid(
+    const Program& program,
+    const ParameterBlockOrdering& ordering,
+    string* message) {
+  const map<int, set<double*> >& group_to_elements =
+      ordering.group_to_elements();
+
+  // Verify that each group is an independent set
+  map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+  for ( ; it != group_to_elements.end(); ++it) {
+    if (!program.IsParameterBlockSetIndependent(it->second)) {
+      *message =
+          StringPrintf("The user-provided "
+                       "parameter_blocks_for_inner_iterations does not "
+                       "form an independent set. Group Id: %d", it->first);
+      return false;
+    }
+  }
+  return true;
+}
+
+// Find a recursive decomposition of the Hessian matrix as a set
+// of independent sets of decreasing size and invert it. This
+// seems to work better in practice, i.e., Cameras before
+// points.
+ParameterBlockOrdering* CoordinateDescentMinimizer::CreateOrdering(
+    const Program& program) {
+  scoped_ptr<ParameterBlockOrdering> ordering(new ParameterBlockOrdering);
+  ComputeRecursiveIndependentSetOrdering(program, ordering.get());
+  ordering->Reverse();
+  return ordering.release();
+}
+
 }  // namespace internal
 }  // namespace ceres