Update ceres to the latest version in google3.

Change-Id: I0165fffa55f60714f23e0096eac89fa68df75a05

1 files changed, 10 insertions, 5 deletions

diff --git a/internal/ceres/dense_normal_cholesky_solver.cc b/internal/ceres/dense_normal_cholesky_solver.cc
index f6bb99a..96f5511 100644
--- a/internal/ceres/dense_normal_cholesky_solver.cc
+++ b/internal/ceres/dense_normal_cholesky_solver.cc
@@ -34,10 +34,11 @@
 
 #include "Eigen/Dense"
 #include "ceres/dense_sparse_matrix.h"
-#include "ceres/linear_solver.h"
 #include "ceres/internal/eigen.h"
 #include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
 #include "ceres/types.h"
+#include "ceres/wall_time.h"
 
 namespace ceres {
 namespace internal {
@@ -51,13 +52,16 @@ LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl(
     const double* b,
     const LinearSolver::PerSolveOptions& per_solve_options,
     double* x) {
+  EventLogger event_logger("DenseNormalCholeskySolver::Solve");
+
   const int num_rows = A->num_rows();
   const int num_cols = A->num_cols();
 
-  ConstAlignedMatrixRef Aref = A->matrix();
+  ConstColMajorMatrixRef Aref = A->matrix();
   Matrix lhs(num_cols, num_cols);
   lhs.setZero();
 
+  event_logger.AddEvent("Setup");
   //   lhs += A'A
   //
   // Using rankUpdate instead of GEMM, exposes the fact that its the
@@ -73,12 +77,13 @@ LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl(
     lhs += D.array().square().matrix().asDiagonal();
   }
 
-  VectorRef(x, num_cols) =
-      lhs.selfadjointView<Eigen::Upper>().ldlt().solve(rhs);
-
   LinearSolver::Summary summary;
   summary.num_iterations = 1;
   summary.termination_type = TOLERANCE;
+  VectorRef(x, num_cols) =
+      lhs.selfadjointView<Eigen::Upper>().ldlt().solve(rhs);
+  event_logger.AddEvent("Solve");
+
   return summary;
 }