Build bot release pipeline

* downloads builds from builder.blender.org
* generates checksums (still need to cleanup filenames)
* create source archive
* upload to download.blender.org

Next steps
* Next step is to place them in the correct folder
* file permissions download.blender.org
* snap package
* steam packages
* release notes

TODO:
* add more generic functions in master.cfg
* use a separate folder per build

CMakeLists.txt

@@ -278,7 +278,6 @@ option(WITH_CODEC_SNDFILE       "Enable libsndfile Support (http://www.mega-nerd
 
 # Alembic support
 option(WITH_ALEMBIC             "Enable Alembic Support" ON)
-option(WITH_ALEMBIC_HDF5        "Enable Legacy Alembic Support (not officially supported)" OFF)
 
 # Universal Scene Description support
 option(WITH_USD                 "Enable Universal Scene Description (USD) Support" ON)
@@ -322,14 +321,6 @@ mark_as_advanced(WITH_SYSTEM_GLOG)
 # Freestyle
 option(WITH_FREESTYLE     "Enable Freestyle (advanced edges rendering)" ON)
 
-# New object types
-option(WITH_NEW_OBJECT_TYPES "Enable new hair and pointcloud objects (use for development only, don't save in files)" OFF)
-mark_as_advanced(WITH_NEW_OBJECT_TYPES)
-
-# New simulation data block
-option(WITH_NEW_SIMULATION_TYPE "Enable simulation data block (use for development only, don't save in files)" OFF)
-mark_as_advanced(WITH_NEW_SIMULATION_TYPE)
-
 # Misc
 if(WIN32)
   option(WITH_INPUT_IME "Enable Input Method Editor (IME) for complex Asian character input" ON)
@@ -371,7 +362,7 @@ option(WITH_CYCLES                  "Enable Cycles Render Engine" ON)
 option(WITH_CYCLES_STANDALONE       "Build Cycles standalone application" OFF)
 option(WITH_CYCLES_STANDALONE_GUI   "Build Cycles standalone with GUI" OFF)
 option(WITH_CYCLES_OSL              "Build Cycles with OSL support" ON)
-option(WITH_CYCLES_EMBREE           "Build Cycles with Embree support" OFF)
+option(WITH_CYCLES_EMBREE           "Build Cycles with Embree support" ON)
 option(WITH_CYCLES_CUDA_BINARIES    "Build Cycles CUDA binaries" OFF)
 option(WITH_CYCLES_CUBIN_COMPILER   "Build cubins with nvrtc based compiler instead of nvcc" OFF)
 option(WITH_CYCLES_CUDA_BUILD_SERIAL "Build cubins one after another (useful on machines with limited RAM)" OFF)
@@ -655,6 +646,7 @@ if(WITH_BOOST AND NOT (WITH_CYCLES OR WITH_OPENIMAGEIO OR WITH_INTERNATIONAL OR
   set(WITH_BOOST OFF)
 endif()
 
+set_and_warn_dependency(WITH_TBB WITH_CYCLES            OFF)
 set_and_warn_dependency(WITH_TBB WITH_USD               OFF)
 set_and_warn_dependency(WITH_TBB WITH_OPENIMAGEDENOISE  OFF)
 set_and_warn_dependency(WITH_TBB WITH_OPENVDB           OFF)
@@ -1246,7 +1238,7 @@ endif()
 
 if(WITH_LIBMV)
   # We always have C++11 which includes unordered_map.
-  set(CERES_DEFINES -DCERES_STD_UNORDERED_MAP)
+  set(CERES_DEFINES "-DCERES_STD_UNORDERED_MAP;-DCERES_USE_CXX_THREADS")
 endif()
 
 #-----------------------------------------------------------------------------
@@ -1562,20 +1554,15 @@ if(WITH_PYTHON)
 endif()
 
 if(MSVC)
-  # MSVC needs to be tested first, since clang on windows will
-  # match the compiler test below but clang-cl does not accept -std=c++11
-  # since it is on by default and cannot be turned off.
-  #
-  # Nothing special is needed, C++11 features are available by default.
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++17")
 elseif(
   CMAKE_COMPILER_IS_GNUCC OR
   CMAKE_C_COMPILER_ID MATCHES "Clang" OR
   CMAKE_C_COMPILER_ID MATCHES "Intel"
 )
-  # TODO(sergey): Do we want c++11 or gnu-c++11 here?
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 else()
-  message(FATAL_ERROR "Unknown compiler ${CMAKE_C_COMPILER_ID}, can't enable C++11 build")
+  message(FATAL_ERROR "Unknown compiler ${CMAKE_C_COMPILER_ID}, can't enable C++17 build")
 endif()
 
 # Visual Studio has all standards it supports available by default

GNUmakefile

@@ -32,6 +32,7 @@ Convenience Targets
    * debug:         Build a debug binary.
    * full:          Enable all supported dependencies & options.
    * lite:          Disable non essential features for a smaller binary and faster build.
+   * release        Complete build with all options enabled including CUDA and Optix, matching the releases on blender.org
    * headless:      Build without an interface (renderfarm or server automation).
    * cycles:        Build Cycles standalone only, without Blender.
    * bpy:           Build as a python module which can be loaded from python directly.
@@ -141,6 +142,10 @@ Information
 endef
 # HELP_TEXT (end)
 
+# This makefile is not meant for Windows
+ifeq ($(OS),Windows_NT)
+    $(error On Windows, use "cmd //c make.bat" instead of "make")
+endif
 
 # System Vars
 OS:=$(shell uname -s)
@@ -207,6 +212,10 @@ ifneq "$(findstring lite, $(MAKECMDGOALS))" ""
 	BUILD_DIR:=$(BUILD_DIR)_lite
 	CMAKE_CONFIG_ARGS:=-C"$(BLENDER_DIR)/build_files/cmake/config/blender_lite.cmake" $(CMAKE_CONFIG_ARGS)
 endif
+ifneq "$(findstring release, $(MAKECMDGOALS))" ""
+	BUILD_DIR:=$(BUILD_DIR)_release
+	CMAKE_CONFIG_ARGS:=-C"$(BLENDER_DIR)/build_files/cmake/config/blender_release.cmake" $(CMAKE_CONFIG_ARGS)
+endif
 ifneq "$(findstring cycles, $(MAKECMDGOALS))" ""
 	BUILD_DIR:=$(BUILD_DIR)_cycles
 	CMAKE_CONFIG_ARGS:=-C"$(BLENDER_DIR)/build_files/cmake/config/cycles_standalone.cmake" $(CMAKE_CONFIG_ARGS)
@@ -317,6 +326,7 @@ all: .FORCE
 debug: all
 full: all
 lite: all
+release: all
 cycles: all
 headless: all
 bpy: all

build_files/build_environment/CMakeLists.txt

@@ -48,11 +48,7 @@ include(cmake/options.cmake)
 include(cmake/versions.cmake)
 
 if(ENABLE_MINGW64)
-  if("${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
-    include(cmake/setup_mingw64.cmake)
-  else()
-    include(cmake/setup_mingw32.cmake)
-  endif()
+  include(cmake/setup_mingw64.cmake)
 else()
   set(mingw_LIBDIR ${LIBDIR})
 endif()
@@ -97,17 +93,18 @@ if(UNIX)
 else()
   include(cmake/pugixml.cmake)
 endif()
+include(cmake/ispc.cmake)
 include(cmake/openimagedenoise.cmake)
 include(cmake/embree.cmake)
-include(cmake/xr_openxr.cmake)
+if(NOT APPLE)
+  include(cmake/xr_openxr.cmake)
+endif()
 
 if(WITH_WEBP)
   include(cmake/webp.cmake)
 endif()
 
 if(WIN32)
-  # HMD branch deps
-  include(cmake/hidapi.cmake)
   # OCIO deps
   include(cmake/tinyxml.cmake)
   include(cmake/yamlcpp.cmake)

build_files/build_environment/cmake/alembic.cmake

@@ -16,16 +16,6 @@
 #
 # ***** END GPL LICENSE BLOCK *****
 
-if(ALEMBIC_HDF5)
-  set(ALEMBIC_HDF5_HL)
-  # in debug mode we do not build HDF5_hdf5_hl_LIBRARY which makes cmake really
-  # unhappy, stub it with the debug mode lib. it's not linking it in at this
-  # point in time anyhow
-  if(BUILD_MODE STREQUAL Debug)
-    set(ALEMBIC_HDF5_HL -DHDF5_hdf5_hl_LIBRARY=${LIBDIR}/hdf5/lib/libhdf5_hl_D.${LIBEXT})
-  endif()
-endif()
-
 set(ALEMBIC_EXTRA_ARGS
   -DBUILDSTATIC=ON
   -DLINKSTATIC=ON
@@ -53,7 +43,6 @@ set(ALEMBIC_EXTRA_ARGS
   -DUSE_PRMAN=0
   -DUSE_HDF5=Off
   -DUSE_STATIC_HDF5=Off
-  -DHDF5_ROOT=${LIBDIR}/hdf5
   -DUSE_TESTS=Off
   -DALEMBIC_NO_OPENGL=1
   -DUSE_BINARIES=ON
@@ -62,7 +51,6 @@ set(ALEMBIC_EXTRA_ARGS
   -DGLUT_INCLUDE_DIR=""
   -DZLIB_LIBRARY=${LIBDIR}/zlib/lib/${ZLIB_LIBRARY}
   -DZLIB_INCLUDE_DIR=${LIBDIR}/zlib/include/
-  ${ALEMBIC_HDF5_HL}
 )
 
 ExternalProject_Add(external_alembic

build_files/build_environment/cmake/embree.cmake

@@ -51,6 +51,7 @@ ExternalProject_Add(external_embree
   DOWNLOAD_DIR ${DOWNLOAD_DIR}
   URL_HASH MD5=${EMBREE_HASH}
   PREFIX ${BUILD_DIR}/embree
+  PATCH_COMMAND ${PATCH_CMD} -p 1 -d ${BUILD_DIR}/embree/src/external_embree < ${PATCH_DIR}/embree.diff
   CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${LIBDIR}/embree ${DEFAULT_CMAKE_FLAGS} ${EMBREE_EXTRA_ARGS}
   INSTALL_DIR ${LIBDIR}/embree
 )

build_files/build_environment/cmake/harvest.cmake

@@ -43,21 +43,10 @@ if(BUILD_MODE STREQUAL Release)
         # tiff
         ${CMAKE_COMMAND} -E copy ${LIBDIR}/tiff/lib/tiff.lib ${HARVEST_TARGET}/tiff/lib/libtiff.lib &&
         ${CMAKE_COMMAND} -E copy_directory ${LIBDIR}/tiff/include/ ${HARVEST_TARGET}/tiff/include/ &&
-        # hidapi
-        ${CMAKE_COMMAND} -E copy_directory ${LIBDIR}/hidapi/ ${HARVEST_TARGET}/hidapi/
     DEPENDS
   )
 endif()
 
-if(BUILD_MODE STREQUAL Debug)
-  add_custom_target(Harvest_Debug_Results
-    COMMAND
-        # hdf5
-        ${CMAKE_COMMAND} -E copy_directory ${LIBDIR}/hdf5/lib ${HARVEST_TARGET}/hdf5/lib &&
-    DEPENDS Package_Python
-  )
-endif()
-
 else(WIN32)
 
 function(harvest from to)

build_files/build_environment/cmake/hdf5.cmake

@@ -1,42 +0,0 @@
-# ***** BEGIN GPL LICENSE BLOCK *****
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software Foundation,
-# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-#
-# ***** END GPL LICENSE BLOCK *****
-
-set(HDF5_EXTRA_ARGS
-  -DHDF5_ENABLE_THREADSAFE=Off
-  -DHDF5_BUILD_CPP_LIB=Off
-  -DBUILD_TESTING=Off
-  -DHDF5_BUILD_TOOLS=Off
-  -DHDF5_BUILD_EXAMPLES=Off
-  -DHDF5_BUILD_HL_LIB=On
-  -DBUILD_STATIC_CRT_LIBS=On
-  -DBUILD_SHARED_LIBS=On
-)
-
-if(WIN32)
-  set(HDF5_PATCH ${PATCH_CMD} --verbose -p 0 -d ${BUILD_DIR}/hdf5/src/external_hdf5 < ${PATCH_DIR}/hdf5.diff)
-endif()
-
-ExternalProject_Add(external_hdf5
-  URL ${HDF5_URI}
-  DOWNLOAD_DIR ${DOWNLOAD_DIR}
-  URL_HASH MD5=${HDF5_HASH}
-  PREFIX ${BUILD_DIR}/hdf5
-  PATCH_COMMAND ${HDF5_PATCH}
-  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${LIBDIR}/hdf5 ${HDF5_EXTRA_ARGS}
-  INSTALL_DIR ${LIBDIR}/hdf5
-)

build_files/build_environment/cmake/ispc.cmake

@@ -0,0 +1,63 @@
+# ***** BEGIN GPL LICENSE BLOCK *****
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software Foundation,
+# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+#
+# ***** END GPL LICENSE BLOCK *****
+
+if(WIN32)
+  set(ISPC_EXTRA_ARGS_WIN
+    -DFLEX_EXECUTABLE=${LIBDIR}/flexbison/win_flex.exe
+    -DBISON_EXECUTABLE=${LIBDIR}/flexbison/win_bison.exe
+    -DM4_EXECUTABLE=${DOWNLOAD_DIR}/mingw/mingw64/msys/1.0/bin/m4.exe
+  )
+endif()
+
+set(ISPC_EXTRA_ARGS
+    -DARM_ENABLED=Off
+    -DISPC_NO_DUMPS=On
+    -DISPC_INCLUDE_EXAMPLES=Off
+    -DISPC_INCLUDE_TESTS=Off
+    -DLLVM_ROOT=${LIBDIR}/llvm/lib/cmake/llvm
+    -DLLVM_LIBRARY_DIR=${LIBDIR}/llvm/lib
+    -DCLANG_EXECUTABLE=${LIBDIR}/clang/bin/clang
+    -DISPC_INCLUDE_TESTS=Off
+    -DCLANG_LIBRARY_DIR=${LIBDIR}/clang/lib
+    -DCLANG_INCLUDE_DIRS=${LIBDIR}/clang/include
+    ${ISPC_EXTRA_ARGS_WIN}
+)
+
+ExternalProject_Add(external_ispc
+  URL ${ISPC_URI}
+  DOWNLOAD_DIR ${DOWNLOAD_DIR}
+  URL_HASH MD5=${ISPC_HASH}
+  PREFIX ${BUILD_DIR}/ispc
+  PATCH_COMMAND ${PATCH_CMD} -p 1 -d ${BUILD_DIR}/ispc/src/external_ispc < ${PATCH_DIR}/ispc.diff
+  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${LIBDIR}/ispc -Wno-dev ${DEFAULT_CMAKE_FLAGS} ${ISPC_EXTRA_ARGS} ${BUILD_DIR}/ispc/src/external_ispc
+  INSTALL_DIR ${LIBDIR}/ispc
+)
+
+add_dependencies(
+  external_ispc
+  ll
+  external_clang
+)
+
+if(WIN32)
+  add_dependencies(
+    external_ispc
+    external_flexbison
+  )
+endif()
+

build_files/build_environment/cmake/openimagedenoise.cmake

@@ -18,26 +18,41 @@
 
 
 set(OIDN_EXTRA_ARGS
-  -DWITH_EXAMPLE=OFF
-  -DWITH_TEST=OFF
+  -DOIDN_APPS=OFF
   -DTBB_ROOT=${LIBDIR}/tbb
   -DTBB_STATIC_LIB=${TBB_STATIC_LIBRARY}
   -DOIDN_STATIC_LIB=ON
+  -DOIDN_STATIC_RUNTIME=OFF
+  -DISPC_EXECUTABLE=${LIBDIR}/ispc/bin/ispc
 )
 
+if(WIN32)
+  set(OIDN_EXTRA_ARGS
+    ${OIDN_EXTRA_ARGS}
+    -DTBB_DEBUG_LIBRARY=${LIBDIR}/tbb/lib/tbb.lib
+    -DTBB_DEBUG_LIBRARY_MALLOC=${LIBDIR}/tbb/lib/tbbmalloc.lib
+  )
+else()
+  set(OIDN_EXTRA_ARGS
+    ${OIDN_EXTRA_ARGS}
+    -Dtbb_LIBRARY_RELEASE=${LIBDIR}/tbb/lib/tbb_static.a
+    -Dtbbmalloc_LIBRARY_RELEASE=${LIBDIR}/tbb/lib/tbbmalloc_static.a
+  )
+endif()
+
 ExternalProject_Add(external_openimagedenoise
   URL ${OIDN_URI}
   DOWNLOAD_DIR ${DOWNLOAD_DIR}
   URL_HASH MD5=${OIDN_HASH}
   PREFIX ${BUILD_DIR}/openimagedenoise
   CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${LIBDIR}/openimagedenoise ${DEFAULT_CMAKE_FLAGS} ${OIDN_EXTRA_ARGS}
-  PATCH_COMMAND ${PATCH_CMD} --verbose -p 1 -N -d ${BUILD_DIR}/openimagedenoise/src/external_openimagedenoise < ${PATCH_DIR}/openimagedenoise.diff
   INSTALL_DIR ${LIBDIR}/openimagedenoise
 )
 
 add_dependencies(
   external_openimagedenoise
   external_tbb
+  external_ispc
 )
 
 if(WIN32)
@@ -46,7 +61,7 @@ if(WIN32)
       COMMAND ${CMAKE_COMMAND} -E copy_directory ${LIBDIR}/openimagedenoise/include ${HARVEST_TARGET}/openimagedenoise/include
       COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openimagedenoise/lib/openimagedenoise.lib ${HARVEST_TARGET}/openimagedenoise/lib/openimagedenoise.lib
       COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openimagedenoise/lib/common.lib ${HARVEST_TARGET}/openimagedenoise/lib/common.lib
-      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openimagedenoise/lib/mkldnn.lib ${HARVEST_TARGET}/openimagedenoise/lib/mkldnn.lib
+      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openimagedenoise/lib/dnnl.lib ${HARVEST_TARGET}/openimagedenoise/lib/dnnl.lib
       DEPENDEES install
     )
   endif()
@@ -54,7 +69,7 @@ if(WIN32)
     ExternalProject_Add_Step(external_openimagedenoise after_install
       COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openimagedenoise/lib/openimagedenoise.lib ${HARVEST_TARGET}/openimagedenoise/lib/openimagedenoise_d.lib
       COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openimagedenoise/lib/common.lib ${HARVEST_TARGET}/openimagedenoise/lib/common_d.lib
-      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openimagedenoise/lib/mkldnn.lib ${HARVEST_TARGET}/openimagedenoise/lib/mkldnn_d.lib
+      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openimagedenoise/lib/dnnl.lib ${HARVEST_TARGET}/openimagedenoise/lib/dnnl_d.lib
       DEPENDEES install
     )
   endif()

build_files/build_environment/cmake/options.cmake

@@ -17,7 +17,7 @@
 # ***** END GPL LICENSE BLOCK *****
 
 if(WIN32)
-  option(ENABLE_MINGW64 "Enable building of ffmpeg/iconv/libsndfile/lapack/fftw3 by installing mingw64" ON)
+  option(ENABLE_MINGW64 "Enable building of ffmpeg/iconv/libsndfile/fftw3 by installing mingw64" ON)
 endif()
 option(WITH_WEBP "Enable building of oiio with webp support" OFF)
 set(MAKE_THREADS 1 CACHE STRING "Number of threads to run make with")
@@ -45,11 +45,7 @@ message("PATCH_DIR = ${PATCH_DIR}")
 message("BUILD_DIR = ${BUILD_DIR}")
 
 if(WIN32)
-  if("${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
-    set(PATCH_CMD ${DOWNLOAD_DIR}/mingw/mingw64/msys/1.0/bin/patch.exe)
-  else()
-    set(PATCH_CMD ${DOWNLOAD_DIR}/mingw/mingw32/msys/1.0/bin/patch.exe)
-  endif()
+  set(PATCH_CMD ${DOWNLOAD_DIR}/mingw/mingw64/msys/1.0/bin/patch.exe)
   set(LIBEXT ".lib")
   set(LIBPREFIX "")
 
@@ -82,17 +78,10 @@ if(WIN32)
   set(PLATFORM_CXX_FLAGS)
   set(PLATFORM_CMAKE_FLAGS)
 
-  if("${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
-    set(MINGW_PATH ${DOWNLOAD_DIR}/mingw/mingw64)
-    set(MINGW_SHELL ming64sh.cmd)
-    set(PERL_SHELL ${DOWNLOAD_DIR}/perl/portableshell.bat)
-    set(MINGW_HOST x86_64-w64-mingw32)
-  else()
-    set(MINGW_PATH ${DOWNLOAD_DIR}/mingw/mingw32)
-    set(MINGW_SHELL ming32sh.cmd)
-    set(PERL_SHELL ${DOWNLOAD_DIR}/perl32/portableshell.bat)
-    set(MINGW_HOST i686-w64-mingw32)
-  endif()
+  set(MINGW_PATH ${DOWNLOAD_DIR}/mingw/mingw64)
+  set(MINGW_SHELL ming64sh.cmd)
+  set(PERL_SHELL ${DOWNLOAD_DIR}/perl/portableshell.bat)
+  set(MINGW_HOST x86_64-w64-mingw32)
 
   set(CONFIGURE_ENV
     cd ${MINGW_PATH} &&

build_files/build_environment/cmake/osl.cmake

@@ -75,6 +75,7 @@ set(OSL_EXTRA_ARGS
   -DUSE_LLVM_BITCODE=OFF
   -DUSE_PARTIO=OFF
   -DUSE_QT=OFF
+  -DINSTALL_DOCS=OFF
   ${OSL_SIMD_FLAGS}
   -DPARTIO_LIBRARIES=
 )

build_files/build_environment/cmake/setup_mingw32.cmake

@@ -1,227 +0,0 @@
-# ***** BEGIN GPL LICENSE BLOCK *****
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software Foundation,
-# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-#
-# ***** END GPL LICENSE BLOCK *****
-
-####################################################################################################################
-# Mingw32 Builds
-####################################################################################################################
-# This installs mingw32+msys to compile ffmpeg/iconv/libsndfile/lapack/fftw3
-####################################################################################################################
-
-message("LIBDIR = ${LIBDIR}")
-macro(cmake_to_msys_path MsysPath ResultingPath)
-  string(REPLACE ":" "" TmpPath "${MsysPath}")
-  string(SUBSTRING ${TmpPath} 0 1 Drive)
-  string(SUBSTRING ${TmpPath} 1 255 PathPart)
-  string(TOLOWER ${Drive} LowerDrive)
-  string(CONCAT ${ResultingPath} "/" ${LowerDrive} ${PathPart})
-endmacro()
-cmake_to_msys_path(${LIBDIR} mingw_LIBDIR)
-message("mingw_LIBDIR = ${mingw_LIBDIR}")
-
-message("Checking for mingw32")
-# download mingw32
-if(NOT EXISTS "${DOWNLOAD_DIR}/i686-4.9.4-release-win32-sjlj-rt_v5-rev0.7z")
-  message("Downloading mingw32")
-  file(DOWNLOAD "https://astuteinternet.dl.sourceforge.net/project/mingw-w64/Toolchains%20targetting%20Win32/Personal%20Builds/mingw-builds/4.9.4/threads-win32/sjlj/i686-4.9.4-release-win32-sjlj-rt_v5-rev0.7z" "${DOWNLOAD_DIR}/i686-4.9.4-release-win32-sjlj-rt_v5-rev0.7z")
-endif()
-
-# make mingw root directory
-if(NOT EXISTS "${DOWNLOAD_DIR}/mingw")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E make_directory ${DOWNLOAD_DIR}/mingw
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}
-  )
-endif()
-
-# extract mingw32
-if((NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/ming32sh.cmd") AND (EXISTS "${DOWNLOAD_DIR}/i686-4.9.4-release-win32-sjlj-rt_v5-rev0.7z"))
-  message("Extracting mingw32")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E tar jxf ${DOWNLOAD_DIR}/i686-4.9.4-release-win32-sjlj-rt_v5-rev0.7z
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}/mingw
-  )
-endif()
-
-message("Checking for pkg-config")
-if(NOT EXISTS "${DOWNLOAD_DIR}/pkg-config-lite-0.28-1_bin-win32.zip")
-  message("Downloading pkg-config")
-  file(DOWNLOAD "https://nchc.dl.sourceforge.net/project/pkgconfiglite/0.28-1/pkg-config-lite-0.28-1_bin-win32.zip" "${DOWNLOAD_DIR}/pkg-config-lite-0.28-1_bin-win32.zip")
-endif()
-
-# extract pkgconfig
-if((NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/pkg-config.exe") AND (EXISTS "${DOWNLOAD_DIR}/pkg-config-lite-0.28-1_bin-win32.zip"))
-  message("Extracting pkg-config")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E tar jxf "${DOWNLOAD_DIR}/pkg-config-lite-0.28-1_bin-win32.zip"
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}/
-  )
-
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E copy "${DOWNLOAD_DIR}/pkg-config-lite-0.28-1/bin/pkg-config.exe" "${DOWNLOAD_DIR}/mingw/mingw32/bin/pkg-config.exe"
-  )
-
-endif()
-
-message("Checking for nasm")
-if(NOT EXISTS "${DOWNLOAD_DIR}/nasm-2.13.02-win32.zip")
-  message("Downloading nasm")
-  file(DOWNLOAD "http://www.nasm.us/pub/nasm/releasebuilds/2.13.02/win32/nasm-2.13.02-win32.zip" "${DOWNLOAD_DIR}/nasm-2.13.02-win32.zip")
-endif()
-
-# extract nasm
-if((NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/nasm.exe") AND (EXISTS "${DOWNLOAD_DIR}/nasm-2.13.02-win32.zip"))
-  message("Extracting nasm")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E tar jxf "${DOWNLOAD_DIR}/nasm-2.13.02-win32.zip"
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}/
-  )
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E copy "${DOWNLOAD_DIR}/nasm-2.13.02/nasm.exe" "${DOWNLOAD_DIR}/mingw/mingw32/bin/nasm.exe"
-  )
-
-endif()
-SET(NASM_PATH ${DOWNLOAD_DIR}/mingw/mingw32/bin/nasm.exe)
-message("Checking for mingwGet")
-if(NOT EXISTS "${DOWNLOAD_DIR}/mingw-get-0.6.2-mingw32-beta-20131004-1-bin.zip")
-  message("Downloading mingw-get")
-  file(DOWNLOAD "https://nchc.dl.sourceforge.net/project/mingw/Installer/mingw-get/mingw-get-0.6.2-beta-20131004-1/mingw-get-0.6.2-mingw32-beta-20131004-1-bin.zip" "${DOWNLOAD_DIR}/mingw-get-0.6.2-mingw32-beta-20131004-1-bin.zip")
-endif()
-
-# extract mingw_get
-if((NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/mingw-get.exe") AND (EXISTS "${DOWNLOAD_DIR}/mingw-get-0.6.2-mingw32-beta-20131004-1-bin.zip"))
-  message("Extracting mingw-get")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E tar jxf "${DOWNLOAD_DIR}/mingw-get-0.6.2-mingw32-beta-20131004-1-bin.zip"
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}/mingw/mingw32/
-  )
-endif()
-
-if((EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/mingw-get.exe") AND (NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/msys/1.0/bin/make.exe"))
-  message("Installing MSYS")
-  execute_process(
-    COMMAND ${DOWNLOAD_DIR}/mingw/mingw32/bin/mingw-get install msys msys-patch
-    WORKING_DIRECTORY  ${DOWNLOAD_DIR}/mingw/mingw32/bin/
-  )
-endif()
-
-if((EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/mingw-get.exe") AND (NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/msys/1.0/bin/mktemp.exe"))
-  message("Installing mktemp")
-  execute_process(
-    COMMAND ${DOWNLOAD_DIR}/mingw/mingw32/bin/mingw-get install msys msys-mktemp
-    WORKING_DIRECTORY  ${DOWNLOAD_DIR}/mingw/mingw32/bin/
-  )
-endif()
-
-
-message("Checking for CoreUtils")
-# download old core_utils for pr.exe (ffmpeg needs it to build)
-if(NOT EXISTS "${DOWNLOAD_DIR}/coreutils-5.97-MSYS-1.0.11-snapshot.tar.bz2")
-  message("Downloading CoreUtils 5.97")
-  file(DOWNLOAD "https://nchc.dl.sourceforge.net/project/mingw/MSYS/Base/msys-core/_obsolete/coreutils-5.97-MSYS-1.0.11-2/coreutils-5.97-MSYS-1.0.11-snapshot.tar.bz2" "${DOWNLOAD_DIR}/coreutils-5.97-MSYS-1.0.11-snapshot.tar.bz2")
-endif()
-
-if((EXISTS "${DOWNLOAD_DIR}/coreutils-5.97-MSYS-1.0.11-snapshot.tar.bz2") AND (NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/msys/1.0/bin/pr.exe"))
-  message("Installing pr from CoreUtils 5.97")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E make_directory ${DOWNLOAD_DIR}/tmp_coreutils
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}
-  )
-
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E tar jxf ${DOWNLOAD_DIR}/coreutils-5.97-MSYS-1.0.11-snapshot.tar.bz2
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}/tmp_coreutils/
-  )
-
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E copy ${DOWNLOAD_DIR}/tmp_coreutils/coreutils-5.97/bin/pr.exe "${DOWNLOAD_DIR}/mingw/mingw32/msys/1.0/bin/pr.exe"
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}/tmp_coreutils/
-  )
-endif()
-
-if(NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/ming32sh.cmd")
-  message("Installing ming32sh.cmd")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E copy ${PATCH_DIR}/ming32sh.cmd  ${DOWNLOAD_DIR}/mingw/mingw32/ming32sh.cmd
-  )
-endif()
-
-message("Checking for perl")
-# download perl for libvpx
-if(NOT EXISTS "${DOWNLOAD_DIR}/strawberry-perl-5.22.1.3-32bit-portable.zip")
-  message("Downloading perl")
-  file(DOWNLOAD "http://strawberryperl.com/download/5.22.1.3/strawberry-perl-5.22.1.3-32bit-portable.zip" "${DOWNLOAD_DIR}/strawberry-perl-5.22.1.3-32bit-portable.zip")
-endif()
-
-# make perl root directory
-if(NOT EXISTS "${DOWNLOAD_DIR}/perl32")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E make_directory ${DOWNLOAD_DIR}/perl32
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}
-  )
-endif()
-
-# extract perl
-if((NOT EXISTS "${DOWNLOAD_DIR}/perl32/portable.perl") AND (EXISTS "${DOWNLOAD_DIR}/strawberry-perl-5.22.1.3-32bit-portable.zip"))
-  message("Extracting perl")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E tar jxf ${DOWNLOAD_DIR}/strawberry-perl-5.22.1.3-32bit-portable.zip
-    WORKING_DIRECTORY ${DOWNLOAD_DIR}/perl32
-  )
-endif()
-
-# get yasm for vpx
-if(NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/yasm.exe")
-  message("Downloading yasm")
-  file(DOWNLOAD "http://www.tortall.net/projects/yasm/releases/yasm-1.3.0-win32.exe" "${DOWNLOAD_DIR}/mingw/mingw32/bin/yasm.exe")
-endif()
-
-message("checking i686-w64-mingw32-strings")
-# copy strings.exe to i686-w64-mingw32-strings for x264
-if(NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/i686-w64-mingw32-strings.exe")
-  message("fixing i686-w64-mingw32-strings.exe")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E copy "${DOWNLOAD_DIR}/mingw/mingw32/bin/strings.exe" "${DOWNLOAD_DIR}/mingw/mingw32/bin/i686-w64-mingw32-strings.exe"
-  )
-endif()
-
-message("checking i686-w64-mingw32-ar.exe")
-# copy ar.exe to i686-w64-mingw32-ar.exe for x264
-if(NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/i686-w64-mingw32-ar.exe")
-  message("fixing i686-w64-mingw32-ar.exe")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E copy "${DOWNLOAD_DIR}/mingw/mingw32/bin/ar.exe" "${DOWNLOAD_DIR}/mingw/mingw32/bin/i686-w64-mingw32-ar.exe"
-  )
-endif()
-
-message("checking i686-w64-mingw32-strip.exe")
-# copy strip.exe to i686-w64-mingw32-strip.exe for x264
-if(NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/i686-w64-mingw32-strip.exe")
-  message("fixing i686-w64-mingw32-strip.exe")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E copy "${DOWNLOAD_DIR}/mingw/mingw32/bin/strip.exe" "${DOWNLOAD_DIR}/mingw/mingw32/bin/i686-w64-mingw32-strip.exe"
-  )
-endif()
-
-message("checking i686-w64-mingw32-ranlib.exe")
-# copy ranlib.exe to i686-w64-mingw32-ranlib.exe for x264
-if(NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw32/bin/i686-w64-mingw32-ranlib.exe")
-  message("fixing i686-w64-mingw32-ranlib.exe")
-  execute_process(
-    COMMAND ${CMAKE_COMMAND} -E copy "${DOWNLOAD_DIR}/mingw/mingw32/bin/ranlib.exe" "${DOWNLOAD_DIR}/mingw/mingw32/bin/i686-w64-mingw32-ranlib.exe"
-  )
-endif()

build_files/build_environment/cmake/setup_mingw64.cmake

@@ -19,7 +19,7 @@
 ####################################################################################################################
 # Mingw64 Builds
 ####################################################################################################################
-# This installs mingw64+msys to compile ffmpeg/iconv/libsndfile/lapack/fftw3
+# This installs mingw64+msys to compile ffmpeg/iconv/libsndfile/fftw3
 ####################################################################################################################
 
 message("LIBDIR = ${LIBDIR}")
@@ -128,6 +128,14 @@ if((EXISTS "${DOWNLOAD_DIR}/mingw/mingw64/bin/mingw-get.exe") AND (NOT EXISTS "$
   )
 endif()
 
+if((EXISTS "${DOWNLOAD_DIR}/mingw/mingw64/bin/mingw-get.exe") AND (NOT EXISTS "${DOWNLOAD_DIR}/mingw/mingw64/msys/1.0/bin/m4.exe"))
+  message("Installing m4")
+  execute_process(
+    COMMAND ${DOWNLOAD_DIR}/mingw/mingw64/bin/mingw-get install msys msys-m4
+    WORKING_DIRECTORY  ${DOWNLOAD_DIR}/mingw/mingw64/bin/
+  )
+endif()
+
 message("Checking for CoreUtils")
 # download old core_utils for pr.exe (ffmpeg needs it to build)
 if(NOT EXISTS "${DOWNLOAD_DIR}/coreutils-5.97-MSYS-1.0.11-snapshot.tar.bz2")

build_files/build_environment/cmake/ssl.conf

@@ -1,4 +1,4 @@
-%targets = (
+my %targets = (
 
   "blender-linux-x86" => {
     inherit_from     => [ "linux-x86" ],

build_files/build_environment/cmake/tbb.cmake

@@ -50,6 +50,13 @@ ExternalProject_Add(external_tbb
 if(WIN32)
   if(BUILD_MODE STREQUAL Release)
     ExternalProject_Add_Step(external_tbb after_install
+      # findtbb.cmake in some deps *NEEDS* to find tbb_debug.lib even if they are not going to use it
+      # to make that test pass, we place a copy with the right name in the lib folder.
+      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/tbb/lib/tbb.lib ${HARVEST_TARGET}/tbb/lib/tbb_debug.lib
+      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/tbb/lib/tbbmalloc.lib ${HARVEST_TARGET}/tbb/lib/tbbmalloc_debug.lib
+      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/tbb/lib/tbb.dll ${HARVEST_TARGET}/tbb/lib/tbb_debug.dll
+      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/tbb/lib/tbbmalloc.dll ${HARVEST_TARGET}/tbb/lib/tbbmalloc_debug.dll
+      # Normal collection of build artifacts
       COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/tbb/lib/tbb.lib ${HARVEST_TARGET}/tbb/lib/tbb.lib
       COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/tbb/lib/tbb.dll ${HARVEST_TARGET}/tbb/lib/tbb.dll
       COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/tbb/lib/tbbmalloc.lib ${HARVEST_TARGET}/tbb/lib/tbbmalloc.lib

build_files/build_environment/cmake/usd.cmake

@@ -27,6 +27,9 @@ set(USD_EXTRA_ARGS
   -DTBB_INCLUDE_DIRS=${LIBDIR}/tbb/include
   -DTBB_LIBRARIES=${LIBDIR}/tbb/lib/${LIBPREFIX}${TBB_LIBRARY}${LIBEXT}
   -DTbb_TBB_LIBRARY=${LIBDIR}/tbb/lib/${LIBPREFIX}${TBB_LIBRARY}${LIBEXT}
+  # USD wants the tbb debug lib set even when you are doing a release build
+  # Otherwise it will error out during the cmake configure phase.
+  -DTBB_LIBRARIES_DEBUG=${LIBDIR}/tbb/lib/${LIBPREFIX}${TBB_LIBRARY}${LIBEXT}
 
   # This is a preventative measure that avoids possible conflicts when add-ons
   # try to load another USD library into the same process space.
@@ -78,14 +81,14 @@ if(WIN32)
   if(BUILD_MODE STREQUAL Release)
     ExternalProject_Add_Step(external_usd after_install
       COMMAND ${CMAKE_COMMAND} -E copy_directory ${LIBDIR}/usd/ ${HARVEST_TARGET}/usd
-      COMMAND ${CMAKE_COMMAND} -E copy ${BUILD_DIR}/usd/src/external_usd-build/pxr/Release/libusd_m.lib ${HARVEST_TARGET}/usd/lib/libusd_m.lib
+      COMMAND ${CMAKE_COMMAND} -E copy ${BUILD_DIR}/usd/src/external_usd-build/pxr/Release/usd_m.lib ${HARVEST_TARGET}/usd/lib/libusd_m.lib
       DEPENDEES install
     )
   endif()
   if(BUILD_MODE STREQUAL Debug)
     ExternalProject_Add_Step(external_usd after_install
       COMMAND ${CMAKE_COMMAND} -E copy_directory ${LIBDIR}/usd/lib ${HARVEST_TARGET}/usd/lib
-      COMMAND ${CMAKE_COMMAND} -E copy ${BUILD_DIR}/usd/src/external_usd-build/pxr/Debug/libusd_m_d.lib ${HARVEST_TARGET}/usd/lib/libusd_m_d.lib
+      COMMAND ${CMAKE_COMMAND} -E copy ${BUILD_DIR}/usd/src/external_usd-build/pxr/Debug/usd_m_d.lib ${HARVEST_TARGET}/usd/lib/libusd_m_d.lib
       DEPENDEES install
     )
   endif()

build_files/build_environment/cmake/versions.cmake

@@ -78,10 +78,6 @@ set(FREEGLUT_VERSION 3.0.0)
 set(FREEGLUT_URI http://pilotfiber.dl.sourceforge.net/project/freeglut/freeglut/${FREEGLUT_VERSION}/freeglut-${FREEGLUT_VERSION}.tar.gz)
 set(FREEGLUT_HASH 90c3ca4dd9d51cf32276bc5344ec9754)
 
-set(HDF5_VERSION 1.8.17)
-set(HDF5_URI https://support.hdfgroup.org/ftp/HDF5/releases/hdf5-1.8/hdf5-${HDF5_VERSION}/src/hdf5-${HDF5_VERSION}.tar.gz)
-set(HDF5_HASH 7d572f8f3b798a628b8245af0391a0ca)
-
 set(ALEMBIC_VERSION 1.7.12)
 set(ALEMBIC_URI https://github.com/alembic/alembic/archive/${ALEMBIC_VERSION}.tar.gz)
 set(ALEMBIC_MD5 e2b3777f23c5c09481a008cc6f0f8a40)
@@ -139,11 +135,11 @@ set(OSL_VERSION 1.10.10)
 set(OSL_URI https://github.com/imageworks/OpenShadingLanguage/archive/Release-${OSL_VERSION}.tar.gz)
 set(OSL_HASH 00dec08a93c8084e53848b9ad047889f)
 
-set(PYTHON_VERSION 3.7.4)
+set(PYTHON_VERSION 3.7.7)
 set(PYTHON_SHORT_VERSION 3.7)
 set(PYTHON_SHORT_VERSION_NO_DOTS 37)
 set(PYTHON_URI https://www.python.org/ftp/python/${PYTHON_VERSION}/Python-${PYTHON_VERSION}.tar.xz)
-set(PYTHON_HASH d33e4aae66097051c2eca45ee3604803)
+set(PYTHON_HASH 172c650156f7bea68ce31b2fd01fa766)
 
 set(TBB_VERSION 2019_U9)
 set(TBB_URI https://github.com/oneapi-src/oneTBB/archive/${TBB_VERSION}.tar.gz)
@@ -153,16 +149,16 @@ set(OPENVDB_VERSION 7.0.0)
 set(OPENVDB_URI https://github.com/dreamworksanimation/openvdb/archive/v${OPENVDB_VERSION}.tar.gz)
 set(OPENVDB_HASH fd6c4f168282f7e0e494d290cd531fa8)
 
-set(IDNA_VERSION 2.8)
+set(IDNA_VERSION 2.9)
 set(CHARDET_VERSION 3.0.4)
-set(URLLIB3_VERSION 1.25.3)
-set(CERTIFI_VERSION 2019.6.16)
-set(REQUESTS_VERSION 2.22.0)
+set(URLLIB3_VERSION 1.25.9)
+set(CERTIFI_VERSION 2020.4.5.2)
+set(REQUESTS_VERSION 2.23.0)
 
-set(NUMPY_VERSION v1.17.0)
+set(NUMPY_VERSION 1.17.5)
 set(NUMPY_SHORT_VERSION 1.17)
-set(NUMPY_URI https://files.pythonhosted.org/packages/da/32/1b8f2bb5fb50e4db68543eb85ce37b9fa6660cd05b58bddfafafa7ed62da/numpy-1.17.0.zip)
-set(NUMPY_HASH aed49b31bcb44ec73b8155be78566135)
+set(NUMPY_URI https://github.com/numpy/numpy/releases/download/v${NUMPY_VERSION}/numpy-${NUMPY_VERSION}.zip)
+set(NUMPY_HASH 763a5646fa6eef7a22f4895bca0524f2)
 
 set(LAME_VERSION 3.100)
 set(LAME_URI http://downloads.sourceforge.net/project/lame/lame/3.100/lame-${LAME_VERSION}.tar.gz)
@@ -192,8 +188,8 @@ set(OPUS_VERSION 1.3.1)
 set(OPUS_URI https://archive.mozilla.org/pub/opus/opus-${OPUS_VERSION}.tar.gz)
 set(OPUS_HASH 65b58e1e25b2a114157014736a3d9dfeaad8d41be1c8179866f144a2fb44ff9d)
 
-set(X264_URI https://code.videolan.org/videolan/x264/-/archive/master/x264-33f9e1474613f59392be5ab6a7e7abf60fa63622.tar.gz)
-set(X264_HASH 300dfb5b6c35722516f168868ce9419252a9e9eb77a05d82c9cede925b691bd6)
+set(X264_URI https://code.videolan.org/videolan/x264/-/archive/33f9e1474613f59392be5ab6a7e7abf60fa63622/x264-33f9e1474613f59392be5ab6a7e7abf60fa63622.tar.gz)
+set(X264_HASH 5456450ee1ae02cd2328be3157367a232a0ab73315e8c8f80dab80469524f525)
 
 set(XVIDCORE_VERSION 1.3.7)
 set(XVIDCORE_URI https://downloads.xvid.com/downloads/xvidcore-${XVIDCORE_VERSION}.tar.gz)
@@ -216,10 +212,6 @@ set(ICONV_VERSION 1.16)
 set(ICONV_URI http://ftp.gnu.org/pub/gnu/libiconv/libiconv-${ICONV_VERSION}.tar.gz)
 set(ICONV_HASH 7d2a800b952942bb2880efb00cfd524c)
 
-set(LAPACK_VERSION 3.6.0)
-set(LAPACK_URI http://www.netlib.org/lapack/lapack-${LAPACK_VERSION}.tgz)
-set(LAPACK_HASH f2f6c67134e851fe189bb3ca1fbb5101)
-
 set(SNDFILE_VERSION 1.0.28)
 set(SNDFILE_URI http://www.mega-nerd.com/libsndfile/files/libsndfile-${SNDFILE_VERSION}.tar.gz)
 set(SNDFILE_HASH 646b5f98ce89ac60cdb060fcd398247c)
@@ -240,13 +232,13 @@ set(SPNAV_VERSION 0.2.3)
 set(SPNAV_URI http://downloads.sourceforge.net/project/spacenav/spacenav%20library%20%28SDK%29/libspnav%20${SPNAV_VERSION}/libspnav-${SPNAV_VERSION}.tar.gz)
 set(SPNAV_HASH 44d840540d53326d4a119c0f1aa7bf0a)
 
-set(JEMALLOC_VERSION 5.0.1)
+set(JEMALLOC_VERSION 5.2.1)
 set(JEMALLOC_URI https://github.com/jemalloc/jemalloc/releases/download/${JEMALLOC_VERSION}/jemalloc-${JEMALLOC_VERSION}.tar.bz2)
-set(JEMALLOC_HASH 507f7b6b882d868730d644510491d18f)
+set(JEMALLOC_HASH 3d41fbf006e6ebffd489bdb304d009ae)
 
-set(XML2_VERSION 2.9.4)
+set(XML2_VERSION 2.9.10)
 set(XML2_URI http://xmlsoft.org/sources/libxml2-${XML2_VERSION}.tar.gz)
-set(XML2_HASH ae249165c173b1ff386ee8ad676815f5)
+set(XML2_HASH 10942a1dc23137a8aa07f0639cbfece5)
 
 set(TINYXML_VERSION 2_6_2)
 set(TINYXML_VERSION_DOTS 2.6.2)
@@ -273,23 +265,23 @@ set(FLEXBISON_HASH d87a3938194520d904013abef3df10ce)
 
 # NOTE: bzip.org domain does no longer belong to BZip 2 project, so we download
 # sources from Debian packaging.
-set(BZIP2_VERSION 1.0.6)
-set(BZIP2_URI http://http.debian.net/debian/pool/main/b/bzip2/bzip2_${BZIP2_VERSION}.orig.tar.bz2)
-set(BZIP2_HASH d70a9ccd8bdf47e302d96c69fecd54925f45d9c7b966bb4ef5f56b770960afa7)
+set(BZIP2_VERSION 1.0.8)
+set(BZIP2_URI http://http.debian.net/debian/pool/main/b/bzip2/bzip2_${BZIP2_VERSION}.orig.tar.gz)
+set(BZIP2_HASH ab5a03176ee106d3f0fa90e381da478ddae405918153cca248e682cd0c4a2269)
 
-set(FFI_VERSION 3.2.1)
+set(FFI_VERSION 3.3)
 set(FFI_URI https://sourceware.org/pub/libffi/libffi-${FFI_VERSION}.tar.gz)
-set(FFI_HASH d06ebb8e1d9a22d19e38d63fdb83954253f39bedc5d46232a05645685722ca37)
+set(FFI_HASH 72fba7922703ddfa7a028d513ac15a85c8d54c8d67f55fa5a4802885dc652056)
 
-set(LZMA_VERSION 5.2.4)
+set(LZMA_VERSION 5.2.5)
 set(LZMA_URI https://tukaani.org/xz/xz-${LZMA_VERSION}.tar.bz2)
-set(LZMA_HASH 3313fd2a95f43d88e44264e6b015e7d03053e681860b0d5d3f9baca79c57b7bf)
+set(LZMA_HASH 5117f930900b341493827d63aa910ff5e011e0b994197c3b71c08a20228a42df)
 
-set(SSL_VERSION 1.1.0i)
+set(SSL_VERSION 1.1.1g)
 set(SSL_URI https://www.openssl.org/source/openssl-${SSL_VERSION}.tar.gz)
-set(SSL_HASH ebbfc844a8c8cc0ea5dc10b86c9ce97f401837f3fa08c17b2cdadc118253cf99)
+set(SSL_HASH ddb04774f1e32f0c49751e21b67216ac87852ceb056b75209af2443400636d46)
 
-set(SQLITE_VERSION 3.24.0)
+set(SQLITE_VERSION 3.31.1)
 set(SQLITE_URI https://www.sqlite.org/2018/sqlite-src-3240000.zip)
 set(SQLITE_HASH fb558c49ee21a837713c4f1e7e413309aabdd9c7)
 
@@ -297,13 +289,13 @@ set(EMBREE_VERSION 3.10.0)
 set(EMBREE_URI https://github.com/embree/embree/archive/v${EMBREE_VERSION}.zip)
 set(EMBREE_HASH 4bbe29e7eaa46417efc75fc5f1e8eb87)
 
-set(USD_VERSION 19.11)
+set(USD_VERSION 20.05)
 set(USD_URI https://github.com/PixarAnimationStudios/USD/archive/v${USD_VERSION}.tar.gz)
-set(USD_HASH 79ff176167b3fe85f4953abd6cc5e0cc)
+set(USD_HASH 6d679e739e7f65725d9c029e37dda9fc)
 
-set(OIDN_VERSION 1.0.0)
-set(OIDN_URI https://github.com/OpenImageDenoise/oidn/releases/download/v${OIDN_VERSION}/oidn-${OIDN_VERSION}.src.zip)
-set(OIDN_HASH 19fe67b0164e8f020ac8a4f520defe60)
+set(OIDN_VERSION 1.2.1)
+set(OIDN_URI https://github.com/OpenImageDenoise/oidn/releases/download/v${OIDN_VERSION}/oidn-${OIDN_VERSION}.src.tar.gz)
+set(OIDN_HASH cbebc1a25eb6de62af3a59e943063608)
 
 set(LIBGLU_VERSION 9.0.1)
 set(LIBGLU_URI ftp://ftp.freedesktop.org/pub/mesa/glu/glu-${LIBGLU_VERSION}.tar.xz)
@@ -316,3 +308,6 @@ set(MESA_HASH d60828056d77bfdbae0970f9b15fb1be)
 set(XR_OPENXR_SDK_VERSION 1.0.8)
 set(XR_OPENXR_SDK_URI https://github.com/KhronosGroup/OpenXR-SDK/archive/release-${XR_OPENXR_SDK_VERSION}.tar.gz)
 set(XR_OPENXR_SDK_HASH c6de63d2e0f9029aa58dfa97cad8ce07)
+set(ISPC_VERSION v1.13.0)
+set(ISPC_URI https://github.com/ispc/ispc/archive/${ISPC_VERSION}.tar.gz)
+set(ISPC_HASH 4bf5e8d0020c4b9980faa702c1a6f25f)

build_files/build_environment/install_deps.sh

@@ -376,7 +376,7 @@ USE_CXX11=true
 
 CLANG_FORMAT_VERSION_MIN="6.0"
 
-PYTHON_VERSION="3.7.4"
+PYTHON_VERSION="3.7.7"
 PYTHON_VERSION_MIN="3.7"
 PYTHON_VERSION_INSTALLED=$PYTHON_VERSION_MIN
 PYTHON_FORCE_BUILD=false
@@ -459,7 +459,7 @@ ALEMBIC_FORCE_BUILD=false
 ALEMBIC_FORCE_REBUILD=false
 ALEMBIC_SKIP=false
 
-USD_VERSION="19.11"
+USD_VERSION="20.05"
 USD_FORCE_BUILD=false
 USD_FORCE_REBUILD=false
 USD_SKIP=false
@@ -1574,7 +1574,7 @@ compile_TBB() {
   if [ ! -d $_inst ]; then
     INFO "Building TBB-$TBB_VERSION$TBB_VERSION_UPDATE"
     _is_building=true
-    
+
     # Rebuild dependencies as well!
     _update_deps_tbb
 
@@ -1691,7 +1691,7 @@ compile_OCIO() {
   if [ ! -d $_inst ]; then
     INFO "Building OpenColorIO-$OCIO_VERSION"
     _is_building=true
-    
+
     # Rebuild dependencies as well!
     _update_deps_ocio
 
@@ -3428,7 +3428,7 @@ compile_XR_OpenXR_SDK() {
 # Install on DEB-like
 
 get_package_version_DEB() {
-    dpkg-query -W -f '${Version}' $1 | sed -r 's/([0-9]+:)?(([0-9]+\.?){$2}([0-9]+)).*/\2/'
+    dpkg-query -W -f '${Version}' $1 | sed -r 's/([0-9]+:)?(([0-9]+\.?)+([0-9]+)).*/\2/'
 }
 
 check_package_DEB() {
@@ -3631,7 +3631,7 @@ install_DEB() {
   # Check cmake/glew versions and disable features for older distros.
   # This is so Blender can at least compile.
   PRINT ""
-  _cmake=`get_package_version_DEB cmake 3`
+  _cmake=`get_package_version_DEB cmake`
   version_ge $_cmake "2.8.10"
   if [ $? -eq 1 ]; then
     version_ge $_cmake "2.8.8"
@@ -3646,7 +3646,7 @@ install_DEB() {
   fi
 
   PRINT ""
-  _glew=`get_package_version_DEB libglew-dev 3`
+  _glew=`get_package_version_DEB libglew-dev`
   if [ -z $_glew ]; then
     # Stupid virtual package in Ubuntu 12.04 doesn't show version number...
     _glew=`apt-cache showpkg libglew-dev|tail -n1|awk '{print $2}'|sed 's/-.*//'`
@@ -3678,8 +3678,7 @@ install_DEB() {
     check_package_version_ge_DEB python3-dev $PYTHON_VERSION_MIN
     if [ $? -eq 0 ]; then
       PYTHON_VERSION_INSTALLED=$(echo `get_package_version_DEB python3-dev` | sed -r 's/^([0-9]+\.[0-9]+).*/\1/')
-      PRINT $(echo `get_package_version_DEB python3-dev` | sed -r 's/^([0-9]+\.[0-9]+).*/\1/')
-      
+
       install_packages_DEB python3-dev
       clean_Python
       PRINT ""
@@ -3893,7 +3892,6 @@ install_DEB() {
     INFO "Forced Alembic building, as requested..."
     compile_ALEMBIC
   else
-    # No package currently, only HDF5!
     compile_ALEMBIC
   fi
 
@@ -4302,8 +4300,7 @@ install_RPM() {
   else
     check_package_version_ge_RPM python3-devel $PYTHON_VERSION_MIN
     if [ $? -eq 0 ]; then
-      get_package_version_RPM python3-devel
-      PYTHON_VERSION_INSTALLED=`echo $? | sed -r 's/([0-9]+:)?(([0-9]+\.?)?([0-9]+)).*/\2/'`
+      PYTHON_VERSION_INSTALLED=$(echo `get_package_version_RPM python3-devel` | sed -r 's/^([0-9]+\.[0-9]+).*/\1/')
 
       install_packages_RPM python3-devel
       clean_Python
@@ -4828,8 +4825,7 @@ install_ARCH() {
   else
     check_package_version_ge_ARCH python $PYTHON_VERSION_MIN
     if [ $? -eq 0 ]; then
-      get_package_version_ARCH python
-      PYTHON_VERSION_INSTALLED=`echo $? | sed -r 's/([0-9]+:)?(([0-9]+\.?)?([0-9]+)).*/\2/'`
+      PYTHON_VERSION_INSTALLED=$(echo `get_package_version_ARCH python` | sed -r 's/^([0-9]+\.[0-9]+).*/\1/')
 
       install_packages_ARCH python
       clean_Python

build_files/build_environment/patches/cmakelists_hidapi.txt

@@ -1,20 +0,0 @@
-cmake_minimum_required(VERSION 2.8)
-project(hidapi)
-
-set(SRC_FILES
-	windows/hid.c
-)
-
-set(HEADER_FILES
-	hidapi/hidapi.h
-)
-include_directories(hidapi)
-add_definitions(-DHID_API_STATIC)
-add_library(hidapi STATIC ${SRC_FILES} ${HEADER_FILES})
-
-install(TARGETS hidapi DESTINATION lib)
-
-INSTALL(FILES hidapi/hidapi.h
-        DESTINATION "include"
-        )
-

build_files/build_environment/patches/embree.diff

@@ -0,0 +1,14 @@
+diff -Naur orig/common/sys/platform.h external_embree/common/sys/platform.h
+--- orig/common/sys/platform.h	2020-05-13 23:08:53 -0600
++++ external_embree/common/sys/platform.h	2020-06-13 17:40:26 -0600
+@@ -84,8 +84,8 @@
+ ////////////////////////////////////////////////////////////////////////////////
+ 
+ #ifdef __WIN32__
+-#define dll_export __declspec(dllexport)
+-#define dll_import __declspec(dllimport)
++#define dll_export 
++#define dll_import 
+ #else
+ #define dll_export __attribute__ ((visibility ("default")))
+ #define dll_import 

build_files/build_environment/patches/hidapi.diff

@@ -1,15 +0,0 @@
---- hidapi/hidapi.h	2011-10-25 20:58:16 -0600
-+++ hidapi/hidapi.h	2016-11-01 12:05:58 -0600
-@@ -30,7 +30,11 @@
- #include <wchar.h>
- 
- #ifdef _WIN32
--      #define HID_API_EXPORT __declspec(dllexport)
-+      #ifdef HID_API_STATIC
-+        #define HID_API_EXPORT 
-+      #else
-+        #define HID_API_EXPORT __declspec(dllexport)
-+      #endif
-       #define HID_API_CALL
- #else
-       #define HID_API_EXPORT /**< API export macro */

build_files/build_environment/patches/ispc.diff

@@ -0,0 +1,36 @@
+diff -Naur external_ispc/CMakeLists.txt external_ispc_fixed/CMakeLists.txt
+--- external_ispc/CMakeLists.txt	2020-04-23 17:29:06 -0600
++++ external_ispc_fixed/CMakeLists.txt	2020-05-05 09:01:09 -0600
+@@ -389,7 +389,7 @@
+ 
+ # Link against Clang libraries
+ foreach(clangLib ${CLANG_LIBRARY_LIST})
+-    find_library(${clangLib}Path NAMES ${clangLib} HINTS ${LLVM_LIBRARY_DIRS})
++    find_library(${clangLib}Path NAMES ${clangLib} HINTS ${LLVM_LIBRARY_DIRS} ${CLANG_LIBRARY_DIR})
+     list(APPEND CLANG_LIBRARY_FULL_PATH_LIST ${${clangLib}Path})
+ endforeach()
+ target_link_libraries(${PROJECT_NAME} ${CLANG_LIBRARY_FULL_PATH_LIST})
+diff -Naur orig/CMakeLists.txt external_ispc/CMakeLists.txt
+--- orig/CMakeLists.txt 2020-05-05 09:19:11 -0600
++++ external_ispc/CMakeLists.txt        2020-05-05 09:26:44 -0600
+@@ -333,7 +333,7 @@
+
+ # Include directories
+ target_include_directories(${PROJECT_NAME} PRIVATE
+-                           ${LLVM_INCLUDE_DIRS}
++                           ${LLVM_INCLUDE_DIRS} ${CLANG_INCLUDE_DIRS}
+                            ${CMAKE_CURRENT_SOURCE_DIR}/src
+                            ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_CFG_INTDIR})
+ # Compile options
+diff -Naur orig/cmake/GenerateBuiltins.cmake.txt external_ispc/cmake/GenerateBuiltins.cmake.txt
++++ orig/cmake/GenerateBuiltins.cmake	2020-05-25 13:32:40.830803821 +0200
++++ external_ispc/cmake/GenerateBuiltins.cmake	2020-05-25 13:32:40.830803821 +0200
+@@ -97,6 +97,8 @@
+ 
+     if ("${bit}" STREQUAL "32" AND ${arch} STREQUAL "x86")
+         set(target_arch "i386")
++        # Blender: disable 32bit due to build issues on Linux and being unnecessary.
++        set(SKIP ON)
+     elseif ("${bit}" STREQUAL "64" AND ${arch} STREQUAL "x86")
+         set(target_arch "x86_64")
+     elseif ("${bit}" STREQUAL "32" AND ${arch} STREQUAL "arm")

build_files/build_environment/patches/openimagedenoise.diff

@@ -1,120 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 70ec895..e616b63 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -178,7 +178,9 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY SOVERSION "0")
- ## Open Image Denoise examples
- ## ----------------------------------------------------------------------------
- 
--add_subdirectory(examples)
-+if(WITH_EXAMPLE)
-+  add_subdirectory(examples)
-+endif()
- 
- ## ----------------------------------------------------------------------------
- ## Open Image Denoise install and packaging
-Submodule mkl-dnn contains modified content
-diff --git a/mkl-dnn/cmake/TBB.cmake b/mkl-dnn/cmake/TBB.cmake
-index 0711e699..c14210b6 100644
---- a/mkl-dnn/cmake/TBB.cmake
-+++ b/mkl-dnn/cmake/TBB.cmake
-@@ -138,13 +138,13 @@ else()
-         set(TBB_LIBRARY_MALLOC TBB_LIBRARY_MALLOC-NOTFOUND)
-         if(APPLE)
-             find_path(TBB_INCLUDE_DIR tbb/task_scheduler_init.h PATHS ${TBB_ROOT}/include NO_DEFAULT_PATH)
--            find_library(TBB_LIBRARY tbb PATHS ${TBB_ROOT}/lib NO_DEFAULT_PATH)
--            find_library(TBB_LIBRARY_MALLOC tbbmalloc PATHS ${TBB_ROOT}/lib NO_DEFAULT_PATH)
-+            find_library(TBB_LIBRARY tbb_static PATHS ${TBB_ROOT}/lib NO_DEFAULT_PATH)
-+            find_library(TBB_LIBRARY_MALLOC tbbmalloc_static PATHS ${TBB_ROOT}/lib NO_DEFAULT_PATH)
-         else()
-             find_path(TBB_INCLUDE_DIR tbb/task_scheduler_init.h PATHS ${TBB_ROOT}/include NO_DEFAULT_PATH)
-             set(TBB_HINTS HINTS ${TBB_ROOT}/lib/intel64/gcc4.4 ${TBB_ROOT}/lib ${TBB_ROOT}/lib64 PATHS /usr/libx86_64-linux-gnu/)
--            find_library(TBB_LIBRARY tbb ${TBB_HINTS})
--            find_library(TBB_LIBRARY_MALLOC tbbmalloc ${TBB_HINTS})
-+            find_library(TBB_LIBRARY tbb_static ${TBB_HINTS})
-+            find_library(TBB_LIBRARY_MALLOC tbbmalloc_static ${TBB_HINTS})
-         endif()
-     endif()
- 
-diff '--ignore-matching-lines=:' -ur '--exclude=*.svn*' -u -r
---- a/cmake/install.cmake	2019-08-12 18:02:20.794402575 +0200
-+++ b/cmake/install.cmake	2019-08-12 18:06:07.470045703 +0200
-@@ -18,6 +18,13 @@
- ## Install library
- ## ----------------------------------------------------------------------------
- 
-+if(UNIX)
-+install(FILES
-+  ${CMAKE_BINARY_DIR}/libOpenImageDenoise.a
-+  ${CMAKE_BINARY_DIR}/libmkldnn.a
-+  ${CMAKE_BINARY_DIR}/libcommon.a
-+  DESTINATION ${CMAKE_INSTALL_LIBDIR})
-+else()
- install(TARGETS ${PROJECT_NAME}
-   EXPORT
-     ${PROJECT_NAME}_Export
-@@ -38,6 +45,7 @@
-       DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT devel
-   )
- endif()
-+endif()
- 
- ## ----------------------------------------------------------------------------
- ## Install headers
-@@ -78,6 +86,7 @@
- ## Install CMake configuration files
- ## ----------------------------------------------------------------------------
- 
-+if(NOT UNIX)
- install(EXPORT ${PROJECT_NAME}_Export
-   DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
-   #NAMESPACE ${PROJECT_NAME}::
-@@ -92,3 +101,4 @@
-   DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}
-   COMPONENT devel
- )
-+endif()
-diff '--ignore-matching-lines=:' -ur '--exclude=*.svn*' -u -r
---- a/CMakeLists.txt	2019-08-12 14:22:00.974078598 +0200
-+++ b/CMakeLists.txt	2019-08-12 18:05:05.949057375 +0200
-@@ -14,7 +14,11 @@
- ## limitations under the License.                                           ##
- ## ======================================================================== ##
- 
--cmake_minimum_required(VERSION 3.1)
-+if(UNIX)
-+  cmake_minimum_required(VERSION 3.1)
-+else()
-+  cmake_minimum_required(VERSION 3.13)
-+endif()
- 
- set(OIDN_VERSION_MAJOR 1)
- set(OIDN_VERSION_MINOR 0)
-@@ -32,13 +36,8 @@
- set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake")
- 
- # Build as shared or static library
--if(${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.13.0")
--  option(OIDN_STATIC_LIB "Build Open Image Denoise as a static library.")
--  mark_as_advanced(CLEAR OIDN_STATIC_LIB)
--else()
--  set(OIDN_STATIC_LIB OFF CACHE BOOL "Build Open Image Denoise as a static library." FORCE)
--  mark_as_advanced(OIDN_STATIC_LIB)
--endif()
-+option(OIDN_STATIC_LIB "Build Open Image Denoise as a static library.")
-+mark_as_advanced(CLEAR OIDN_STATIC_LIB)
- if(OIDN_STATIC_LIB)
-   set(OIDN_LIB_TYPE STATIC)
- else()
-diff -Naur orig/core/api.cpp external_openimagedenoise/core/api.cpp
---- orig/core/api.cpp	2019-07-19 08:37:04 -0600
-+++ external_openimagedenoise/core/api.cpp	2020-01-21 15:10:56 -0700
-@@ -15,7 +15,7 @@
- // ======================================================================== //
- 
- #ifdef _WIN32
--#  define OIDN_API extern "C" __declspec(dllexport)
-+#  define OIDN_API extern "C" 
- #else
- #  define OIDN_API extern "C" __attribute__ ((visibility ("default")))
- #endif

build_files/build_environment/patches/usd.diff

@@ -1,14 +1,3 @@
-diff -x .git -ur usd.orig/cmake/defaults/Options.cmake external_usd/cmake/defaults/Options.cmake
---- usd.orig/cmake/defaults/Options.cmake	2019-10-24 22:39:53.000000000 +0200
-+++ external_usd/cmake/defaults/Options.cmake	2019-11-28 13:00:33.197957712 +0100
-@@ -25,6 +25,7 @@
- option(PXR_VALIDATE_GENERATED_CODE "Validate script generated code" OFF)
- option(PXR_HEADLESS_TEST_MODE "Disallow GUI based tests, useful for running under headless CI systems." OFF)
- option(PXR_BUILD_TESTS "Build tests" ON)
-+option(PXR_BUILD_USD_TOOLS "Build commandline tools" ON)
- option(PXR_BUILD_IMAGING "Build imaging components" ON)
- option(PXR_BUILD_EMBREE_PLUGIN "Build embree imaging plugin" OFF)
- option(PXR_BUILD_OPENIMAGEIO_PLUGIN "Build OpenImageIO plugin" OFF)
 diff -x .git -ur usd.orig/cmake/defaults/Packages.cmake external_usd/cmake/defaults/Packages.cmake
 --- usd.orig/cmake/defaults/Packages.cmake	2019-10-24 22:39:53.000000000 +0200
 +++ external_usd/cmake/defaults/Packages.cmake	2019-11-28 13:00:33.185957483 +0100
@@ -21,11 +10,11 @@ diff -x .git -ur usd.orig/cmake/defaults/Packages.cmake external_usd/cmake/defau
  add_definitions(${TBB_DEFINITIONS})
  
  # --math
-diff -x .git -ur usd.orig/pxr/base/lib/plug/initConfig.cpp external_usd/pxr/base/lib/plug/initConfig.cpp
---- usd.orig/pxr/base/lib/plug/initConfig.cpp	2019-10-24 22:39:53.000000000 +0200
-+++ external_usd/pxr/base/lib/plug/initConfig.cpp	2019-12-11 11:00:37.643323127 +0100
-@@ -69,8 +69,38 @@
- 
+diff -x .git -ur usd.orig/pxr/base/plug/initConfig.cpp external_usd/pxr/base/plug/initConfig.cpp
+--- usd.orig/pxr/base/plug/initConfig.cpp.orig	2020-06-12 17:20:07.478199779 +0200
++++ external_usd/pxr/base/plug/initConfig.cpp	2020-06-12 17:25:28.648588552 +0200
+@@ -69,10 +69,40 @@
+
  ARCH_CONSTRUCTOR(Plug_InitConfig, 2, void)
  {
 +    /* The contents of this constructor have been moved to usd_initialise_plugin_path(...) */
@@ -50,7 +39,9 @@ diff -x .git -ur usd.orig/pxr/base/lib/plug/initConfig.cpp external_usd/pxr/base
 +usd_initialise_plugin_path(const char *datafiles_usd_path)
 +{
      std::vector<std::string> result;
- 
+
+     std::vector<std::string> debugMessages;
+
 +    // Add Blender-specific paths. They MUST end in a slash, or symlinks will not be treated as directory.
 +    if (datafiles_usd_path != NULL && datafiles_usd_path[0] != '\0') {
 +        std::string datafiles_usd_path_str(datafiles_usd_path);
@@ -60,14 +51,14 @@ diff -x .git -ur usd.orig/pxr/base/lib/plug/initConfig.cpp external_usd/pxr/base
 +        result.push_back(datafiles_usd_path_str);
 +    }
 +
-     // Determine the absolute path to the Plug shared library.
-     // Any relative paths specified in the plugin search path will be
-     // anchored to this directory, to allow for relocatability.
-@@ -94,9 +124,24 @@
-     _AppendPathList(&result, installLocation, sharedLibPath);
+     // Determine the absolute path to the Plug shared library.  Any relative
+     // paths specified in the plugin search path will be anchored to this
+     // directory, to allow for relocatability.  Note that this can fail when pxr
+@@ -114,9 +144,24 @@
+     _AppendPathList(&result, installLocation, binaryPath);
  #endif // PXR_INSTALL_LOCATION
- 
--    Plug_SetPaths(result);
+
+-    Plug_SetPaths(result, debugMessages);
 -}
 +    if (!TfGetenv("PXR_PATH_DEBUG").empty()) {
 +        printf("USD Plugin paths: (%zu in total):\n", result.size());
@@ -75,10 +66,10 @@ diff -x .git -ur usd.orig/pxr/base/lib/plug/initConfig.cpp external_usd/pxr/base
 +            printf("    %s\n", path.c_str());
 +        }
 +    }
- 
-+    Plug_SetPaths(result);
+
++    Plug_SetPaths(result, debugMessages);
  }
- 
+
  PXR_NAMESPACE_CLOSE_SCOPE
 +
 +/* Workaround to make it possible to pass a path at runtime to USD. */
@@ -90,37 +81,6 @@ diff -x .git -ur usd.orig/pxr/base/lib/plug/initConfig.cpp external_usd/pxr/base
 +    PXR_NS::usd_initialise_plugin_path(datafiles_usd_path);
 +}
 +}
-diff -x .git -ur usd.orig/pxr/usd/CMakeLists.txt external_usd/pxr/usd/CMakeLists.txt
---- usd.orig/pxr/usd/CMakeLists.txt	2019-10-24 22:39:53.000000000 +0200
-+++ external_usd/pxr/usd/CMakeLists.txt	2019-11-28 13:00:33.197957712 +0100
-@@ -1,6 +1,5 @@
- set(DIRS
-     lib
--    bin
-     plugin
- )
- 
-@@ -8,3 +7,8 @@
-     add_subdirectory(${d})
- endforeach()
- 
-+if (PXR_BUILD_USD_TOOLS)
-+    add_subdirectory(bin)
-+else()
-+    message(STATUS "Skipping commandline tools because PXR_BUILD_USD_TOOLS=OFF")
-+endif()
-diff -Naur external_usd_orig/pxr/base/lib/tf/preprocessorUtils.h external_usd/pxr/base/lib/tf/preprocessorUtils.h
---- external_usd_orig/pxr/base/lib/tf/preprocessorUtils.h	2019-10-24 14:39:53 -0600
-+++ external_usd/pxr/base/lib/tf/preprocessorUtils.h	2020-01-14 09:30:18 -0700
-@@ -189,7 +189,7 @@
- /// Exapnds to 1 if the argument is a tuple, and 0 otherwise.
- /// \ingroup group_tf_Preprocessor
- /// \hideinitializer
--#if defined(ARCH_OS_WINDOWS)
-+#if defined(ARCH_COMPILER_MSVC)
-     #define TF_PP_IS_TUPLE(sequence) \
-         BOOST_VMD_IS_TUPLE(sequence)
- #else
 diff -Naur external_usd_base/cmake/macros/Public.cmake external_usd/cmake/macros/Public.cmake
 --- external_usd_base/cmake/macros/Public.cmake	2019-10-24 14:39:53 -0600
 +++ external_usd/cmake/macros/Public.cmake	2020-01-11 13:33:29 -0700

build_files/buildbot-lts/README.md

@@ -0,0 +1,34 @@
+Buildbot-lts
+============
+
+This folder contains configuration files and build scripts for making a release.
+It originated when we started to do LTS releases what happens once every two
+weeks. The idea is to automate the manual steps where possible and provide a
+pipeline process for the manual steps that still needs to happen.
+
+By using the same software as builder.blender.org it would already put us in
+the right direction when we might want to make this part of builder.blender.org
+for now it is running on a VM in the blender institute as it contains user
+private keys and the process needs to be controlled security wise.
+
+But of course the source and configurations are public available for anyone to 
+check, develop and use.
+
+Setting up build-bot
+--------------------
+
+instructions from https://github.com/cjolowicz/docker-buildbot.
+
+Create custom buildbot worker containing packages we need for building (git, wget).
+
+    cd docker
+    docker build -t buildbot --no-cache .
+    cd worker
+    docker build -t buildbot-worker --no-cache .
+
+    docker network create net-buildbot
+
+    docker rm lts-buildbot && docker run --init --name lts-buildbot --network net-buildbot --publish=127.0.0.1:8010:8010 -t -i  buildbot
+
+    docker rm lts-worker && docker run --init --name lts-worker --network net-buildbot --name lts-worker -e BUILDMASTER=lts-buildbot -e WORKERNAME=lts-worker -e WORKERPASS=secret -t -i  buildbot-worker
+

build_files/buildbot-lts/docker/Dockerfile

@@ -0,0 +1,36 @@
+FROM ubuntu:18.04
+
+RUN apt update && apt upgrade -y
+RUN apt install -y \
+    gosu \
+    wget \
+    openssh-client \
+    build-essential \
+    libffi-dev \
+    libssl-dev \
+    python3-dev \
+    python3-pip
+    
+
+ENV BUILDBOT_VERSION 2.5.0
+RUN pip3 --no-cache-dir install --upgrade pip && pip --no-cache-dir install \
+    buildbot[bundle,tls]==$BUILDBOT_VERSION \
+    buildbot-docker-swarm-worker
+
+COPY buildbot.tac /var/lib/buildbot/
+COPY docker-entrypoint.sh /usr/local/bin/
+COPY master.cfg /etc/buildbot/
+COPY bin/create_checksum.sh /var/lib/buildbot/bin/
+COPY bin/upload_file.sh /var/lib/buildbot/bin/
+COPY .ssh/id_rsa /var/lib/buildbot/.ssh/
+
+RUN adduser --home /var/lib/buildbot --disabled-password --gecos '' buildbot
+WORKDIR /var/lib/buildbot
+RUN ln -s /etc/buildbot/master.cfg
+
+VOLUME /var/lib/buildbot
+EXPOSE 8010
+EXPOSE 9989
+
+ENTRYPOINT ["docker-entrypoint.sh"]
+CMD ["twistd", "--pidfile=", "--nodaemon", "--python=buildbot.tac"]

build_files/buildbot-lts/docker/bin/create_checksum.sh

@@ -0,0 +1,4 @@
+#!/bin/sh
+set -e
+md5sum $1 > $2.md5
+sha256sum $1 > $2.sha256

build_files/buildbot-lts/docker/bin/upload_file.sh

@@ -0,0 +1,7 @@
+#!/bin/sh
+set -e
+if [ ! -f /var/lib/buildbot/.ssh/known_hosts ]
+then
+    ssh-keyscan download.blender.org > /var/lib/buildbot/.ssh/known_hosts
+fi
+scp $1 jeroen@download.blender.org:$2

build_files/buildbot-lts/docker/buildbot.tac

@@ -0,0 +1,20 @@
+import os
+import sys
+
+from twisted.application import service
+from twisted.python.log import FileLogObserver
+from twisted.python.log import ILogObserver
+
+from buildbot.master import BuildMaster
+
+basedir = os.environ.get("BUILDBOT_BASEDIR",
+    os.path.abspath(os.path.dirname(__file__)))
+configfile = 'master.cfg'
+
+# note: this line is matched against to check that this is a buildmaster
+# directory; do not edit it.
+application = service.Application('buildmaster')
+application.setComponent(ILogObserver, FileLogObserver(sys.stdout).emit)
+
+m = BuildMaster(basedir, configfile, umask=None)
+m.setServiceParent(application)

build_files/buildbot-lts/docker/docker-compose.yml

@@ -0,0 +1,36 @@
+version: '1'
+services:
+  buildbot:
+    image: buildbot/buildbot-master:master
+    env_file:
+      - db.env
+    environment:
+      - BUILDBOT_CONFIG_DIR=config
+      - BUILDBOT_CONFIG_URL=https://github.com/buildbot/buildbot-docker-example-config/archive/master.tar.gz
+      - BUILDBOT_WORKER_PORT=9989
+      - BUILDBOT_WEB_URL=http://localhost:8010/
+      - BUILDBOT_WEB_PORT=tcp:port=8010
+    links:
+      - db
+    depends_on:
+      - db
+    ports:
+      - "8010:8010"
+  db:
+    env_file:
+      - db.env
+    image: "postgres:9.4"
+    expose:
+      - 5432
+
+  worker:
+    image: "buildbot/buildbot-worker:master"
+    environment:
+      BUILDMASTER: buildbot
+      BUILDMASTER_PORT: 9989
+      WORKERNAME: lts-worker
+      WORKERPASS: pass
+      WORKER_ENVIRONMENT_BLACKLIST: DOCKER_BUILDBOT* BUILDBOT_ENV_* BUILDBOT_1* WORKER_ENVIRONMENT_BLACKLIST
+
+    links:
+      - buildbot

build_files/buildbot-lts/docker/docker-entrypoint.sh

@@ -0,0 +1,18 @@
+#!/bin/sh
+
+set -e
+
+buildbot upgrade-master .
+
+chown buildbot /var/lib/buildbot/
+chown buildbot /var/lib/buildbot/.ssh/
+chown -R buildbot /var/lib/buildbot/*
+
+if [ -S /var/run/docker.sock ]
+then
+    group=$(stat -c '%g' /var/run/docker.sock)
+else
+    group=buildbot
+fi
+
+gosu buildbot:$group "$@"

build_files/buildbot-lts/docker/master.cfg

@@ -0,0 +1,240 @@
+# -*- python -*-
+# ex: set filetype=python:
+
+import os
+
+from buildbot.plugins import *
+
+# This is a sample buildmaster config file. It must be installed as
+# 'master.cfg' in your buildmaster's base directory.
+
+# This is the dictionary that the buildmaster pays attention to. We also use
+# a shorter alias to save typing.
+c = BuildmasterConfig = {}
+
+####### WORKERS
+
+# The 'workers' list defines the set of recognized workers. Each element is
+# a Worker object, specifying a unique worker name and password.  The same
+# worker name and password must be configured on the worker.
+
+c['workers'] = [worker.Worker("lts-worker", 'secret')]
+
+if 'BUILDBOT_MQ_URL' in os.environ:
+    c['mq'] = {
+        'type' : 'wamp',
+        'router_url': os.environ['BUILDBOT_MQ_URL'],
+        'realm': os.environ.get('BUILDBOT_MQ_REALM', 'buildbot').decode('utf-8'),
+        'debug' : 'BUILDBOT_MQ_DEBUG' in os.environ,
+        'debug_websockets' : 'BUILDBOT_MQ_DEBUG' in os.environ,
+        'debug_lowlevel' : 'BUILDBOT_MQ_DEBUG' in os.environ,
+    }
+# 'protocols' contains information about protocols which master will use for
+# communicating with workers. You must define at least 'port' option that workers
+# could connect to your master with this protocol.
+# 'port' must match the value configured into the workers (with their
+# --master option)
+c['protocols'] = {'pb': {'port': os.environ.get("BUILDBOT_WORKER_PORT", 9989)}}
+
+####### CHANGESOURCES
+
+# the 'change_source' setting tells the buildmaster how it should find out
+# about source code changes.  We don't build when sources change.
+c['change_source'] = []
+
+####### SCHEDULERS
+
+# Configure the Schedulers, which decide how to react to incoming changes.  In this
+# case, just kick off a 'runtests' build
+
+c['schedulers'] = [
+    schedulers.ForceScheduler(
+        name="build",
+        builderNames=["release-blender-283"],
+        properties=[
+            util.StringParameter(
+                name="blender_version",
+                label="Version of blender.",
+                default="2.83"),
+            util.StringParameter(
+                name="blender_version_full",
+                label="Version of blender (Full).",
+                default="2.83.1")
+        ]
+    ),
+
+    schedulers.Triggerable(
+        name="deploy-source-archive",
+        builderNames=["deploy-source-archive"]
+    ),
+
+    schedulers.Triggerable(
+        name="deploy-buildbot-packages",
+        builderNames=["deploy-buildbot-packages"]
+    ),
+]
+
+####### BUILDERS
+
+# The 'builders' list defines the Builders, which tell Buildbot how to perform a build:
+# what steps, and which workers can execute them.  Note that any particular build will
+# only take place on one worker.
+
+deploy_source_archive_factory = util.BuildFactory()
+deploy_source_archive_factory.addStep(steps.Git(name="Checkout Blender Source", repourl='https://git.blender.org/blender.git', branch=util.Interpolate('blender-v%(prop:blender_version)s-release'), mode='full'))
+deploy_source_archive_factory.addStep(steps.ShellSequence(name="Make source archive", commands=[
+    util.ShellArg(command=["make", "source_archive"], logfile='make_source_archive'),
+    # The next two shell commands are only needed during development
+    util.ShellArg(command=["mv", "blender-2.83.2-beta.tar.xz", util.Interpolate('blender-v%(prop:blender_version_full)s.tar.xz')]),
+    util.ShellArg(command=["mv", "blender-2.83.2-beta.tar.xz.md5sum", util.Interpolate('blender-v%(prop:blender_version_full)s.tar.xz.md5sum')]),
+]))
+deploy_source_archive_factory.addStep(steps.FileUpload(
+    name="Upload source archive",
+    workersrc=util.Interpolate('blender-v%(prop:blender_version_full)s.tar.xz'),
+    masterdest=util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-v%(prop:blender_version_full)s.tar.xz')))
+deploy_source_archive_factory.addStep(steps.FileUpload(
+    name="Upload source archive checksum",
+    workersrc=util.Interpolate('blender-v%(prop:blender_version_full)s.tar.xz.md5sum'),
+    masterdest=util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-v%(prop:blender_version_full)s.tar.xz.md5sum')))
+deploy_source_archive_factory.addStep(steps.MasterShellCommand(
+    name="Upload source archive",
+    command=[
+        'sh', '-C', '/var/lib/buildbot/bin/upload_file.sh',
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-v%(prop:blender_version_full)s.tar.xz'), 
+        util.Interpolate('/data/www/vhosts/download.blender.org/ftp/jeroen/')]))
+deploy_source_archive_factory.addStep(steps.MasterShellCommand(
+    name="Upload windows64.zip build",
+    command=[
+        'sh', '-C', '/var/lib/buildbot/bin/upload_file.sh',
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-v%(prop:blender_version_full)s.tar.xz.md5sum'), 
+        util.Interpolate('/data/www/vhosts/download.blender.org/ftp/jeroen/')]))
+
+deploy_buildbot_packages_factory = util.BuildFactory()
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Download linux64 build",
+    command=[
+        'wget', util.Interpolate('https://builder.blender.org/download/blender-%(prop:blender_version_full)s-linux64.tar.xz'),
+        "-O", util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s-linux64.tar.xz')]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Download windows64.msi build",
+    command=[
+        'wget', util.Interpolate('https://builder.blender.org/download/blender-%(prop:blender_version_full)s-windows64.msi'),
+        "-O", util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s-windows64.msi')]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Download windows64.zip build",
+    command=[
+        'wget', util.Interpolate('https://builder.blender.org/download/blender-%(prop:blender_version_full)s-windows64.zip'),
+        "-O", util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s-windows64.zip')]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Download macOS build",
+    command=[
+        'wget', util.Interpolate('https://builder.blender.org/download/blender-%(prop:blender_version_full)s-macOS.dmg'),
+        "-O", util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s-macOS.dmg')]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Create checksum (md5/sha256)",
+    command=[
+        'sh',
+        '-C',
+        '/var/lib/buildbot/bin/create_checksum.sh',
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s-*'),
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s'),
+]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Upload linux64 build",
+    command=[
+        'sh', '-C', '/var/lib/buildbot/bin/upload_file.sh',
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s-linux64.tar.xz'), 
+        util.Interpolate('/data/www/vhosts/download.blender.org/ftp/jeroen/')]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Upload windows64.msi build",
+    command=[
+        'sh', '-C', '/var/lib/buildbot/bin/upload_file.sh',
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s-windows64.msi'), 
+        util.Interpolate('/data/www/vhosts/download.blender.org/ftp/jeroen/')]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Upload windows64.zip build",
+    command=[
+        'sh', '-C', '/var/lib/buildbot/bin/upload_file.sh',
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s-windows64.zip'), 
+        util.Interpolate('/data/www/vhosts/download.blender.org/ftp/jeroen/')]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Upload macOS build",
+    command=[
+        'sh', '-C', '/var/lib/buildbot/bin/upload_file.sh',
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s-macOS.dmg'), 
+        util.Interpolate('/data/www/vhosts/download.blender.org/ftp/jeroen/')]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Upload md5 checksum",
+    command=[
+        'sh', '-C', '/var/lib/buildbot/bin/upload_file.sh',
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s.md5'), 
+        util.Interpolate('/data/www/vhosts/download.blender.org/ftp/jeroen/')]))
+deploy_buildbot_packages_factory.addStep(steps.MasterShellCommand(
+    name="Upload sha256 checksum",
+    command=[
+        'sh', '-C', '/var/lib/buildbot/bin/upload_file.sh',
+        util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s/blender-%(prop:blender_version_full)s.sha256'), 
+        util.Interpolate('/data/www/vhosts/download.blender.org/ftp/jeroen/')]))
+
+factory = util.BuildFactory()
+factory.addStep(steps.MasterShellCommand(name="Init release folder", command=["mkdir", "-p", util.Interpolate('/var/lib/buildbot/builds//blender-v%(prop:blender_version_full)s')]))
+factory.addStep(steps.Trigger(
+    name='Deploy',
+    schedulerNames=[
+        'deploy-source-archive',
+        'deploy-buildbot-packages',
+    ],
+    waitForFinish=True,
+    set_properties={
+        'blender_version_full': util.Property('blender_version_full'),
+        'blender_version': util.Property('blender_version'),
+    }
+))
+
+# Download builds from builder.blender.org
+c['builders'] = [
+    util.BuilderConfig(name="release-blender-283",
+      workernames=["lts-worker"],
+      factory=factory),
+    util.BuilderConfig(name="deploy-source-archive",
+      workernames=["lts-worker"],
+      factory=deploy_source_archive_factory),
+    util.BuilderConfig(name="deploy-buildbot-packages",
+      workernames=["lts-worker"],
+      factory=deploy_buildbot_packages_factory),
+]
+
+####### STATUS TARGETS
+
+# 'status' is a list of Status Targets. The results of each build will be
+# pushed to these targets. buildbot/status/*.py has a variety to choose from,
+# like IRC bots.
+
+# c['status'] = []
+
+####### PROJECT IDENTITY
+
+# the 'title' string will appear at the top of this buildbot installation's
+# home pages (linked to the 'titleURL').
+
+c['title'] = "Blender Release LTS"
+c['titleURL'] = "https://www.blender.org/download/lts/"
+
+# the 'buildbotURL' string should point to the location where the buildbot's
+# internal web server is visible. This typically uses the port number set in
+# the 'www' entry below, but with an externally-visible host name which the
+# buildbot cannot figure out without some help.
+
+c['buildbotURL'] = os.environ.get("BUILDBOT_WEB_URL", "http://localhost:8010/")
+
+# minimalistic config to activate new web UI
+c['www'] = dict(port=os.environ.get("BUILDBOT_WEB_PORT", 8010),
+                plugins=dict(waterfall_view={}, console_view={}))
+
+####### DB URL
+
+c['db'] = {
+    # This specifies what database buildbot uses to store its state.  You can leave
+    # this at its default for all but the largest installations.
+    'db_url' : os.environ.get("BUILDBOT_DB_URL", "sqlite://").format(**os.environ),
+}

build_files/buildbot-lts/docker/worker/Dockerfile

@@ -0,0 +1,27 @@
+FROM ubuntu:18.04
+
+RUN set -ex; \
+    apt-get update; \
+    apt-get install -y --no-install-recommends \
+    build-essential \
+    git \
+    wget \
+    python3-dev \
+    python3-pip \
+    python3-setuptools \
+    python3-wheel \
+    ; \
+    rm -rf /var/lib/apt/lists/*
+
+ENV BUILDBOT_VERSION 2.5.0
+RUN pip3 install --upgrade pip && \
+    pip --no-cache-dir install twisted[tls] && \
+    pip --no-cache-dir install buildbot_worker==$BUILDBOT_VERSION
+
+RUN useradd --create-home --home-dir=/var/lib/buildbot buildbot
+WORKDIR /var/lib/buildbot
+USER buildbot
+
+COPY buildbot.tac .
+
+CMD ["twistd", "--pidfile=", "--nodaemon", "--python=buildbot.tac"]

build_files/buildbot-lts/docker/worker/buildbot.tac

@@ -0,0 +1,39 @@
+import fnmatch
+import os
+import sys
+
+from twisted.application import service
+from twisted.python.log import FileLogObserver
+from twisted.python.log import ILogObserver
+
+from buildbot_worker.bot import Worker
+
+# setup worker
+basedir = os.path.abspath(os.path.dirname(__file__))
+application = service.Application('buildbot-worker')
+
+
+application.setComponent(ILogObserver, FileLogObserver(sys.stdout).emit)
+# and worker on the same process!
+buildmaster_host = os.environ.get("BUILDMASTER", 'localhost')
+port = int(os.environ.get("BUILDMASTER_PORT", 9989))
+workername = os.environ.get("WORKERNAME", 'docker')
+passwd = os.environ.get("WORKERPASS")
+
+# delete the password from the environ so that it is not leaked in the log
+blacklist = os.environ.get("WORKER_ENVIRONMENT_BLACKLIST", "WORKERPASS").split()
+for name in list(os.environ.keys()):
+    for toremove in blacklist:
+        if fnmatch.fnmatch(name, toremove):
+            del os.environ[name]
+
+keepalive = 600
+umask = None
+maxdelay = 300
+allow_shutdown = None
+maxretries = 10
+
+s = Worker(buildmaster_host, port, workername, passwd, basedir,
+           keepalive, umask=umask, maxdelay=maxdelay,
+           allow_shutdown=allow_shutdown, maxRetries=maxretries)
+s.setServiceParent(application)

build_files/buildbot/README.md

@@ -8,7 +8,7 @@ Code signing is done as part of INSTALL target, which makes it possible to sign
 files which are aimed into a bundle and coming from a non-signed source (such as
 libraries SVN).
 
-This is achieved by specifying `slave_codesign.cmake` as a post-install script
+This is achieved by specifying `worker_codesign.cmake` as a post-install script
 run by CMake. This CMake script simply involves an utility script written in
 Python which takes care of an actual signing.
 

build_files/buildbot/buildbot_utils.py

@@ -40,8 +40,8 @@ class Builder:
 
         # Buildbot runs from build/ directory
         self.blender_dir = os.path.abspath(os.path.join('..', 'blender.git'))
-        self.build_dir = os.path.abspath(os.path.join('..', 'build', name))
-        self.install_dir = os.path.abspath(os.path.join('..', 'install', name))
+        self.build_dir = os.path.abspath(os.path.join('..', 'build'))
+        self.install_dir = os.path.abspath(os.path.join('..', 'install'))
         self.upload_dir = os.path.abspath(os.path.join('..', 'install'))
 
         # Detect platform
@@ -51,7 +51,7 @@ class Builder:
         elif name.startswith('linux'):
             self.platform = 'linux'
             if is_tool('scl'):
-                self.command_prefix =  ['scl', 'enable', 'devtoolset-6', '--']
+                self.command_prefix =  ['scl', 'enable', 'devtoolset-9', '--']
             else:
                 self.command_prefix =  []
         elif name.startswith('win'):

build_files/buildbot/codesign/base_code_signer.py

@@ -48,6 +48,7 @@ import shutil
 import subprocess
 import time
 import tarfile
+import uuid
 
 from pathlib import Path
 from tempfile import TemporaryDirectory
@@ -121,21 +122,10 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
     # Consider this an input of the code signing server.
     unsigned_storage_dir: Path
 
-    # Information about archive which contains files which are to be signed.
-    #
-    # This archive is created by the buildbot worked and acts as an input for
-    # the code signing server.
-    unsigned_archive_info: ArchiveWithIndicator
-
     # Storage where signed files are stored.
     # Consider this an output of the code signer server.
     signed_storage_dir: Path
 
-    # Information about archive which contains signed files.
-    #
-    # This archive is created by the code signing server.
-    signed_archive_info: ArchiveWithIndicator
-
     # Platform the code is currently executing on.
     platform: util.Platform
 
@@ -146,50 +136,44 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
 
         # Unsigned (signing server input) configuration.
         self.unsigned_storage_dir = absolute_shared_storage_dir / 'unsigned'
-        self.unsigned_archive_info = ArchiveWithIndicator(
-            self.unsigned_storage_dir, 'unsigned_files.tar', 'ready.stamp')
 
         # Signed (signing server output) configuration.
         self.signed_storage_dir = absolute_shared_storage_dir / 'signed'
-        self.signed_archive_info = ArchiveWithIndicator(
-            self.signed_storage_dir, 'signed_files.tar', 'ready.stamp')
 
         self.platform = util.get_current_platform()
 
-    """
-    General note on cleanup environment functions.
-
-    It is expected that there is only one instance of the code signer server
-    running for a given input/output directory, and that it serves a single
-    buildbot worker.
-    By its nature, a buildbot worker only produces one build at a time and
-    never performs concurrent builds.
-    This leads to a conclusion that when starting in a clean environment
-    there shouldn't be any archives remaining from a previous build.
-
-    However, it is possible to have various failure scenarios which might
-    leave the environment in a non-clean state:
-
-        - Network hiccup which makes buildbot worker to stop current build
-          and re-start it after connection to server is re-established.
-
-          Note, this could also happen during buildbot server maintenance.
-
-        - Signing server might get restarted due to updates or other reasons.
-
-    Requiring manual interaction in such cases is not something good to
-    require, so here we simply assume that the system is used the way it is
-    intended to and restore environment to a prestine clean state.
-    """
-
     def cleanup_environment_for_builder(self) -> None:
-        self.unsigned_archive_info.clean()
-        self.signed_archive_info.clean()
+        # TODO(sergey): Revisit need of cleaning up the existing files.
+        # In practice it wasn't so helpful, and with multiple clients
+        # talking to the same server it becomes even mor etricky.
+        pass
 
     def cleanup_environment_for_signing_server(self) -> None:
-        # Don't clear the requested to-be-signed archive since we might be
-        # restarting signing machine while the buildbot is busy.
-        self.signed_archive_info.clean()
+        # TODO(sergey): Revisit need of cleaning up the existing files.
+        # In practice it wasn't so helpful, and with multiple clients
+        # talking to the same server it becomes even mor etricky.
+        pass
+
+    def generate_request_id(self) -> str:
+        """
+        Generate an unique identifier for code signing request.
+        """
+        return str(uuid.uuid4())
+
+    def archive_info_for_request_id(
+            self, path: Path, request_id: str) -> ArchiveWithIndicator:
+        return ArchiveWithIndicator(
+            path, f'{request_id}.tar', f'{request_id}.ready')
+
+    def signed_archive_info_for_request_id(
+            self, request_id: str) -> ArchiveWithIndicator:
+        return self.archive_info_for_request_id(
+            self.signed_storage_dir, request_id)
+
+    def unsigned_archive_info_for_request_id(
+            self, request_id: str) -> ArchiveWithIndicator:
+        return self.archive_info_for_request_id(
+            self.unsigned_storage_dir, request_id)
 
     ############################################################################
     # Buildbot worker side helpers.
@@ -232,7 +216,7 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
                               if self.check_file_is_to_be_signed(file)]
         return files_to_be_signed
 
-    def wait_for_signed_archive_or_die(self) -> None:
+    def wait_for_signed_archive_or_die(self, request_id) -> None:
         """
         Wait until archive with signed files is available.
 
@@ -240,13 +224,19 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
         is still no responce from the signing server the application will exit
         with a non-zero exit code.
         """
+
+        signed_archive_info = self.signed_archive_info_for_request_id(
+            request_id)
+        unsigned_archive_info = self.unsigned_archive_info_for_request_id(
+            request_id)
+
         timeout_in_seconds = self.config.TIMEOUT_IN_SECONDS
         time_start = time.monotonic()
-        while not self.signed_archive_info.is_ready():
+        while not signed_archive_info.is_ready():
             time.sleep(1)
             time_slept_in_seconds = time.monotonic() - time_start
             if time_slept_in_seconds > timeout_in_seconds:
-                self.unsigned_archive_info.clean()
+                unsigned_archive_info.clean()
                 raise SystemExit("Signing server didn't finish signing in "
                                  f"{timeout_in_seconds} seconds, dying :(")
 
@@ -303,13 +293,19 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
             return
         logger_builder.info('Found %d files to sign.', len(files))
 
+        request_id = self.generate_request_id()
+        signed_archive_info = self.signed_archive_info_for_request_id(
+            request_id)
+        unsigned_archive_info = self.unsigned_archive_info_for_request_id(
+            request_id)
+
         pack_files(files=files,
-                   archive_filepath=self.unsigned_archive_info.archive_filepath)
-        self.unsigned_archive_info.tag_ready()
+                   archive_filepath=unsigned_archive_info.archive_filepath)
+        unsigned_archive_info.tag_ready()
 
         # Wait for the signing server to finish signing.
         logger_builder.info('Waiting signing server to sign the files...')
-        self.wait_for_signed_archive_or_die()
+        self.wait_for_signed_archive_or_die(request_id)
 
         # Extract signed files from archive and move files to final location.
         with TemporaryDirectory(prefix='blender-buildbot-') as temp_dir_str:
@@ -317,7 +313,7 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
 
             logger_builder.info('Extracting signed files from archive...')
             extract_files(
-                archive_filepath=self.signed_archive_info.archive_filepath,
+                archive_filepath=signed_archive_info.archive_filepath,
                 extraction_dir=unpacked_signed_files_dir)
 
             destination_dir = path
@@ -327,19 +323,44 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
                 unpacked_signed_files_dir, destination_dir)
 
         logger_builder.info('Removing archive with signed files...')
-        self.signed_archive_info.clean()
+        signed_archive_info.clean()
 
     ############################################################################
     # Signing server side helpers.
 
-    def wait_for_sign_request(self) -> None:
+    def wait_for_sign_request(self) -> str:
         """
         Wait for the buildbot to request signing of an archive.
+
+        Returns an identifier of signing request.
         """
+
         # TOOD(sergey): Support graceful shutdown on Ctrl-C.
-        while not self.unsigned_archive_info.is_ready():
+
+        logger_server.info(
+            f'Waiting for a request directory {self.unsigned_storage_dir} to appear.')
+        while not self.unsigned_storage_dir.exists():
             time.sleep(1)
 
+        logger_server.info(
+            'Waiting for a READY indicator of any signing request.')
+        request_id = None
+        while request_id is None:
+            for file in self.unsigned_storage_dir.iterdir():
+                if file.suffix != '.ready':
+                    continue
+                request_id = file.stem
+                logger_server.info(f'Found READY for request ID {request_id}.')
+            if request_id is None:
+                time.sleep(1)
+
+        unsigned_archive_info = self.unsigned_archive_info_for_request_id(
+            request_id)
+        while not unsigned_archive_info.is_ready():
+            time.sleep(1)
+
+        return request_id
+
     @abc.abstractmethod
     def sign_all_files(self, files: List[AbsoluteAndRelativeFileName]) -> None:
         """
@@ -348,7 +369,7 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
         NOTE: Signing should happen in-place.
         """
 
-    def run_signing_pipeline(self):
+    def run_signing_pipeline(self, request_id: str):
         """
         Run the full signing pipeline starting from the point when buildbot
         worker have requested signing.
@@ -360,9 +381,14 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
         with TemporaryDirectory(prefix='blender-codesign-') as temp_dir_str:
             temp_dir = Path(temp_dir_str)
 
+            signed_archive_info = self.signed_archive_info_for_request_id(
+                request_id)
+            unsigned_archive_info = self.unsigned_archive_info_for_request_id(
+                request_id)
+
             logger_server.info('Extracting unsigned files from archive...')
             extract_files(
-                archive_filepath=self.unsigned_archive_info.archive_filepath,
+                archive_filepath=unsigned_archive_info.archive_filepath,
                 extraction_dir=temp_dir)
 
             logger_server.info('Collecting all files which needs signing...')
@@ -374,11 +400,11 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
 
             logger_server.info('Packing signed files...')
             pack_files(files=files,
-                       archive_filepath=self.signed_archive_info.archive_filepath)
-            self.signed_archive_info.tag_ready()
+                       archive_filepath=signed_archive_info.archive_filepath)
+            signed_archive_info.tag_ready()
 
             logger_server.info('Removing signing request...')
-            self.unsigned_archive_info.clean()
+            unsigned_archive_info.clean()
 
             logger_server.info('Signing is complete.')
 
@@ -389,11 +415,11 @@ class BaseCodeSigner(metaclass=abc.ABCMeta):
         while True:
             logger_server.info('Waiting for the signing request in %s...',
                                self.unsigned_storage_dir)
-            self.wait_for_sign_request()
+            request_id = self.wait_for_sign_request()
 
             logger_server.info(
-                'Got signing request, beging signign procedure.')
-            self.run_signing_pipeline()
+                f'Beging signign procedure for request ID {request_id}.')
+            self.run_signing_pipeline(request_id)
 
     ############################################################################
     # Command executing.

build_files/buildbot/slave_rsync.py

@@ -1,37 +0,0 @@
-# ##### BEGIN GPL LICENSE BLOCK #####
-#
-#  This program is free software; you can redistribute it and/or
-#  modify it under the terms of the GNU General Public License
-#  as published by the Free Software Foundation; either version 2
-#  of the License, or (at your option) any later version.
-#
-#  This program is distributed in the hope that it will be useful,
-#  but WITHOUT ANY WARRANTY; without even the implied warranty of
-#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-#  GNU General Public License for more details.
-#
-#  You should have received a copy of the GNU General Public License
-#  along with this program; if not, write to the Free Software Foundation,
-#  Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
-#
-# ##### END GPL LICENSE BLOCK #####
-
-# <pep8 compliant>
-
-# Runs on buildbot slave, rsync zip directly to buildbot server rather
-# than using upload which is much slower
-
-import buildbot_utils
-import os
-import sys
-
-if __name__ == "__main__":
-    builder = buildbot_utils.create_builder_from_arguments()
-
-    # rsync, this assumes ssh keys are setup so no password is needed
-    local_zip = "buildbot_upload.zip"
-    remote_folder = "builder.blender.org:/data/buildbot-master/uploaded/"
-    remote_zip = remote_folder + "buildbot_upload_" + builder.name + ".zip"
-
-    command = ["rsync", "-avz", local_zip, remote_zip]
-    buildbot_utils.call(command)

build_files/buildbot/worker_bundle_dmg.py

@@ -30,7 +30,7 @@ from tempfile import TemporaryDirectory, NamedTemporaryFile
 from typing import List
 
 BUILDBOT_DIRECTORY = Path(__file__).absolute().parent
-CODESIGN_SCRIPT = BUILDBOT_DIRECTORY / 'slave_codesign.py'
+CODESIGN_SCRIPT = BUILDBOT_DIRECTORY / 'worker_codesign.py'
 BLENDER_GIT_ROOT_DIRECTORY = BUILDBOT_DIRECTORY.parent.parent
 DARWIN_DIRECTORY = BLENDER_GIT_ROOT_DIRECTORY / 'release' / 'darwin'
 

build_files/buildbot/worker_codesign.cmake

@@ -33,7 +33,7 @@ else()
 endif()
 
 execute_process(
-  COMMAND ${PYTHON_EXECUTABLE} "${CMAKE_CURRENT_LIST_DIR}/slave_codesign.py"
+  COMMAND ${PYTHON_EXECUTABLE} "${CMAKE_CURRENT_LIST_DIR}/worker_codesign.py"
           "${CMAKE_INSTALL_PREFIX}"
   WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
   RESULT_VARIABLE exit_code

build_files/buildbot/worker_compile.py

@@ -25,7 +25,7 @@ import buildbot_utils
 
 def get_cmake_options(builder):
     post_install_script = os.path.join(
-        builder.blender_dir, 'build_files', 'buildbot', 'slave_codesign.cmake')
+        builder.blender_dir, 'build_files', 'buildbot', 'worker_codesign.cmake')
 
     config_file = "build_files/cmake/config/blender_release.cmake"
     options = ['-DCMAKE_BUILD_TYPE:STRING=Release',
@@ -35,7 +35,7 @@ def get_cmake_options(builder):
         options.append('-DCMAKE_OSX_ARCHITECTURES:STRING=x86_64')
         options.append('-DCMAKE_OSX_DEPLOYMENT_TARGET=10.9')
     elif builder.platform == 'win':
-        options.extend(['-G', 'Visual Studio 15 2017 Win64'])
+        options.extend(['-G', 'Visual Studio 16 2019', '-A', 'x64'])
         options.extend(['-DPOSTINSTALL_SCRIPT:PATH=' + post_install_script])
     elif builder.platform == 'linux':
         config_file = "build_files/buildbot/config/blender_linux.cmake"

build_files/buildbot/worker_pack.py

@@ -18,7 +18,7 @@
 
 # <pep8 compliant>
 
-# Runs on buildbot slave, creating a release package using the build
+# Runs on buildbot worker, creating a release package using the build
 # system and zipping it into buildbot_upload.zip. This is then uploaded
 # to the master in the next buildbot step.
 
@@ -110,7 +110,7 @@ def pack_mac(builder):
 
     release_dir = os.path.join(builder.blender_dir, 'release', 'darwin')
     buildbot_dir = os.path.join(builder.blender_dir, 'build_files', 'buildbot')
-    bundle_script = os.path.join(buildbot_dir, 'slave_bundle_dmg.py')
+    bundle_script = os.path.join(buildbot_dir, 'worker_bundle_dmg.py')
 
     command = [bundle_script]
     command += ['--dmg', package_filepath]

build_files/cmake/Modules/FindHDF5.cmake

@@ -1,65 +0,0 @@
-# - Find HDF5 library
-# Find the native HDF5 includes and libraries
-# This module defines
-#  HDF5_INCLUDE_DIRS, where to find hdf5.h, Set when HDF5_INCLUDE_DIR is found.
-#  HDF5_LIBRARIES, libraries to link against to use HDF5.
-#  HDF5_ROOT_DIR, The base directory to search for HDF5.
-#                 This can also be an environment variable.
-#  HDF5_FOUND, If false, do not try to use HDF5.
-#
-
-#=============================================================================
-# Copyright 2016 Blender Foundation.
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-
-# If HDF5_ROOT_DIR was defined in the environment, use it.
-IF(NOT HDF5_ROOT_DIR AND NOT $ENV{HDF5_ROOT_DIR} STREQUAL "")
-  SET(HDF5_ROOT_DIR $ENV{HDF5_ROOT_DIR})
-ENDIF()
-
-SET(_hdf5_SEARCH_DIRS
-  ${HDF5_ROOT_DIR}
-  /opt/lib/hdf5
-)
-
-FIND_LIBRARY(HDF5_LIBRARY
-  NAMES
-    hdf5
-  HINTS
-    ${_hdf5_SEARCH_DIRS}
-  PATH_SUFFIXES
-    lib64 lib
-)
-
-FIND_PATH(HDF5_INCLUDE_DIR
-  NAMES
-    hdf5.h
-  HINTS
-    ${_hdf5_SEARCH_DIRS}
-  PATH_SUFFIXES
-    include
-)
-
-# handle the QUIETLY and REQUIRED arguments and set HDF5_FOUND to TRUE if
-# all listed variables are TRUE
-INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(HDF5 DEFAULT_MSG HDF5_LIBRARY HDF5_INCLUDE_DIR)
-
-IF(HDF5_FOUND)
-  SET(HDF5_LIBRARIES ${HDF5_LIBRARY})
-  SET(HDF5_INCLUDE_DIRS ${HDF5_INCLUDE_DIR})
-ENDIF(HDF5_FOUND)
-
-MARK_AS_ADVANCED(
-  HDF5_INCLUDE_DIR
-  HDF5_LIBRARY
-)
-
-UNSET(_hdf5_SEARCH_DIRS)

build_files/cmake/Modules/FindOpenImageDenoise.cmake

@@ -48,7 +48,14 @@ SET(_openimagedenoise_FIND_COMPONENTS
 # These are needed when building statically
 SET(_openimagedenoise_FIND_STATIC_COMPONENTS
   common
+
+  # These additional library names change between versions, we list all of them
+  # so builds work with multiple versions. Missing libraries are skipped.
+  dnnl_cpu
+  dnnl_common
+  dnnl_cpu # Second time because of circular dependency
   mkldnn
+  dnnl
 )
 
 SET(_openimagedenoise_LIBRARIES)

build_files/cmake/config/blender_full.cmake

@@ -11,6 +11,7 @@ set(WITH_CODEC_AVI           ON  CACHE BOOL "" FORCE)
 set(WITH_CODEC_FFMPEG        ON  CACHE BOOL "" FORCE)
 set(WITH_CODEC_SNDFILE       ON  CACHE BOOL "" FORCE)
 set(WITH_CYCLES              ON  CACHE BOOL "" FORCE)
+set(WITH_CYCLES_EMBREE       ON  CACHE BOOL "" FORCE)
 set(WITH_CYCLES_OSL          ON  CACHE BOOL "" FORCE)
 set(WITH_DRACO               ON  CACHE BOOL "" FORCE)
 set(WITH_FFTW3               ON  CACHE BOOL "" FORCE)

build_files/cmake/config/blender_lite.cmake

@@ -15,6 +15,7 @@ set(WITH_CODEC_AVI           OFF CACHE BOOL "" FORCE)
 set(WITH_CODEC_FFMPEG        OFF CACHE BOOL "" FORCE)
 set(WITH_CODEC_SNDFILE       OFF CACHE BOOL "" FORCE)
 set(WITH_CYCLES              OFF CACHE BOOL "" FORCE)
+set(WITH_CYCLES_EMBREE       OFF CACHE BOOL "" FORCE)
 set(WITH_CYCLES_OSL          OFF CACHE BOOL "" FORCE)
 set(WITH_CYCLES_DEVICE_OPTIX OFF CACHE BOOL "" FORCE)
 set(WITH_DRACO               OFF CACHE BOOL "" FORCE)

build_files/cmake/config/blender_release.cmake

@@ -12,6 +12,7 @@ set(WITH_CODEC_AVI           ON  CACHE BOOL "" FORCE)
 set(WITH_CODEC_FFMPEG        ON  CACHE BOOL "" FORCE)
 set(WITH_CODEC_SNDFILE       ON  CACHE BOOL "" FORCE)
 set(WITH_CYCLES              ON  CACHE BOOL "" FORCE)
+set(WITH_CYCLES_EMBREE       ON  CACHE BOOL "" FORCE)
 set(WITH_CYCLES_OSL          ON  CACHE BOOL "" FORCE)
 set(WITH_DRACO               ON  CACHE BOOL "" FORCE)
 set(WITH_FFTW3               ON  CACHE BOOL "" FORCE)

build_files/cmake/macros.cmake

@@ -437,7 +437,6 @@ function(SETUP_LIBDIRS)
 
     if(WITH_ALEMBIC)
       link_directories(${ALEMBIC_LIBPATH})
-      link_directories(${HDF5_LIBPATH})
     endif()
 
     if(WITH_GHOST_WAYLAND)

build_files/cmake/platform/platform_unix.cmake

@@ -265,14 +265,8 @@ endif()
 if(WITH_ALEMBIC)
   find_package_wrapper(Alembic)
 
-  if(WITH_ALEMBIC_HDF5)
-    set(HDF5_ROOT_DIR ${LIBDIR}/hdf5)
-    find_package_wrapper(HDF5)
-  endif()
-
-  if(NOT ALEMBIC_FOUND OR (WITH_ALEMBIC_HDF5 AND NOT HDF5_FOUND))
+  if(NOT ALEMBIC_FOUND)
     set(WITH_ALEMBIC OFF)
-    set(WITH_ALEMBIC_HDF5 OFF)
   endif()
 endif()
 

build_files/cmake/platform/platform_win32.cmake

@@ -539,10 +539,10 @@ if(WITH_OPENIMAGEDENOISE)
   set(OPENIMAGEDENOISE_LIBRARIES
     optimized ${OPENIMAGEDENOISE_LIBPATH}/OpenImageDenoise.lib
     optimized ${OPENIMAGEDENOISE_LIBPATH}/common.lib
-    optimized ${OPENIMAGEDENOISE_LIBPATH}/mkldnn.lib
+    optimized ${OPENIMAGEDENOISE_LIBPATH}/dnnl.lib
     debug ${OPENIMAGEDENOISE_LIBPATH}/OpenImageDenoise_d.lib
     debug ${OPENIMAGEDENOISE_LIBPATH}/common_d.lib
-    debug ${OPENIMAGEDENOISE_LIBPATH}/mkldnn_d.lib)
+    debug ${OPENIMAGEDENOISE_LIBPATH}/dnnl_d.lib)
   set(OPENIMAGEDENOISE_DEFINITIONS)
 endif()
 

doc/python_api/requirements.txt

@@ -1,2 +1,2 @@
-Sphinx==3.0.3
-sphinx_rtd_theme==0.5.0rc1
+Sphinx==3.1.1
+sphinx_rtd_theme==0.5.0

doc/python_api/rst/bgl.rst

@@ -427,7 +427,7 @@ offers a set of extensive examples, including advanced features.
 
    Return evaluator parameters
 
-   .. seealso:: `OpenGL Docs <https://www.opengl.org/sdk/docs/man2/xhtml/glGetMap.xml>`_
+   .. seealso:: `OpenGL Docs <https://www.opengl.org/sdk/docs/man2/xhtml/glGetMap.xml>`__
 
    :type target: Enumerated constant
    :arg target: Specifies the symbolic name of a map.

doc/python_api/rst/include__bmesh.rst

@@ -1,5 +1,5 @@
 ..
-   This document is appended to the auto generated bmesh api doc to avoid clogging up the C files with details.
+   This document is appended to the auto generated BMesh API doc to avoid clogging up the C files with details.
    to test this run:
    ./blender.bin -b -noaudio -P doc/python_api/sphinx_doc_gen.py -- \
                  --partial bmesh* ; cd doc/python_api ; sphinx-build sphinx-in sphinx-out ; cd ../../
@@ -19,25 +19,24 @@ Submodules:
 Introduction
 ------------
 
-This API gives access the blenders internal mesh editing api, featuring geometry connectivity data and
+This API gives access the Blender's internal mesh editing API, featuring geometry connectivity data and
 access to editing operations such as split, separate, collapse and dissolve.
-
 The features exposed closely follow the C API,
-giving python access to the functions used by blenders own mesh editing tools.
+giving Python access to the functions used by Blender's own mesh editing tools.
 
 For an overview of BMesh data types and how they reference each other see:
-`BMesh Design Document <https://wiki.blender.org/index.php/Dev:Source/Modeling/BMesh/Design>`_ .
+`BMesh Design Document <https://wiki.blender.org/index.php/Dev:Source/Modeling/BMesh/Design>`__.
 
 
 .. note::
 
-   **Disk** and **Radial** data is not exposed by the python api since this is for internal use only.
+   **Disk** and **Radial** data is not exposed by the Python API since this is for internal use only.
 
 
 .. warning:: TODO items are...
 
-   * add access to BMesh **walkers**
-   * add custom-data manipulation functions add/remove/rename.
+   - add access to BMesh **walkers**.
+   - add custom-data manipulation functions add, remove or rename.
 
 
 Example Script
@@ -46,55 +45,52 @@ Example Script
 .. literalinclude:: __/__/__/release/scripts/templates_py/bmesh_simple.py
 
 
-Stand-Alone Module
-^^^^^^^^^^^^^^^^^^
+Standalone Module
+^^^^^^^^^^^^^^^^^
 
-The bmesh module is written to be standalone except for :mod:`mathutils`
+The BMesh module is written to be standalone except for :mod:`mathutils`
 which is used for vertex locations and normals.
-
 The only other exception to this are when converting mesh data to and from :class:`bpy.types.Mesh`.
 
 
 Mesh Access
 -----------
 
-There are 2 ways to access BMesh data, you can create a new BMesh by converting a mesh from
-:class:`bpy.types.BlendData.meshes` or by accessing the current edit mode mesh.
-see: :class:`bmesh.types.BMesh.from_mesh` and :mod:`bmesh.from_edit_mesh` respectively.
+There are two ways to access BMesh data, you can create a new BMesh by converting a mesh from
+:class:`bpy.types.BlendData.meshes` or by accessing the current Edit-Mode mesh.
+See: :class:`bmesh.types.BMesh.from_mesh` and :mod:`bmesh.from_edit_mesh` respectively.
 
-When explicitly converting from mesh data python **owns** the data, that is to say -
-that the mesh only exists while python holds a reference to it,
-and the script is responsible for putting it back into a mesh data-block when the edits are done.
+When explicitly converting from mesh data Python **owns** the data, that means that
+the mesh only exists while Python holds a reference to it.
+The script is responsible for putting it back into a mesh data-block when the edits are done.
 
-Note that unlike :mod:`bpy`, a BMesh does not necessarily correspond to data in the currently open blend file,
+Note that unlike :mod:`bpy`, a BMesh does not necessarily correspond to data in the currently open blend-file,
 a BMesh can be created, edited and freed without the user ever seeing or having access to it.
-Unlike edit mode, the bmesh module can use multiple BMesh instances at once.
+Unlike Edit-Mode, the BMesh module can use multiple BMesh instances at once.
 
-Take care when dealing with multiple BMesh instances since the mesh data can use a lot of memory, while a mesh that
-python owns will be freed in when the script holds no references to it,
-its good practice to call :class:`bmesh.types.BMesh.free` which will remove all the mesh data immediately and disable
-further access.
+Take care when dealing with multiple BMesh instances since the mesh data can use a lot of memory.
+While a mesh that the Python script owns will be freed when the script holds no references to it,
+it's good practice to call :class:`bmesh.types.BMesh.free` which will remove all the mesh data immediately
+and disable further access.
 
 
-EditMode Tessellation
-^^^^^^^^^^^^^^^^^^^^^
+Edit-Mode Tessellation
+^^^^^^^^^^^^^^^^^^^^^^
 
-When writing scripts that operate on editmode data you will normally want to re-calculate the tessellation after
-running the  script, this needs to be called explicitly.
-
-The BMesh its self does not store the triangulated faces, they are stored in the :class:`bpy.types.Mesh`,
+When writing scripts that operate on Edit-Mode data you will normally want to re-calculate the tessellation after
+running the script, this needs to be called explicitly.
+The BMesh itself does not store the triangulated faces, instead they are stored in the :class:`bpy.types.Mesh`,
 to refresh tessellation triangles call :class:`bpy.types.Mesh.calc_loop_triangles`.
 
 
 CustomData Access
 -----------------
 
-BMesh has a unified way to access mesh attributes such as UV's vertex colors, shape keys, edge crease etc.
+BMesh has a unified way to access mesh attributes such as UVs, vertex colors, shape keys, edge crease, etc.
+This works by having a **layers** property on BMesh data sequences to access the custom data layers
+which can then be used to access the actual data on each vert, edge, face or loop.
 
-This works by having a **layers** property on bmesh data sequences to access the custom data layers which can then be
-used to access the actual data on each vert/edge/face/loop.
-
-Here are some examples ...
+Here are some examples:
 
 .. code-block:: python
 
@@ -139,27 +135,27 @@ Here are some examples ...
 Keeping a Correct State
 -----------------------
 
-When modeling in blender there are certain assumptions made about the state of the mesh.
+When modeling in Blender there are certain assumptions made about the state of the mesh:
 
-* hidden geometry isn't selected.
-* when an edge is selected, its vertices are selected too.
-* when a face is selected, its edges and vertices are selected.
-* duplicate edges / faces don't exist.
-* faces have at least 3 vertices.
+- Hidden geometry isn't selected.
+- When an edge is selected, its vertices are selected too.
+- When a face is selected, its edges and vertices are selected.
+- Duplicate edges / faces don't exist.
+- Faces have at least three vertices.
 
 To give developers flexibility these conventions are not enforced,
-however tools must leave the mesh in a valid state else other tools may behave incorrectly.
-
+yet tools must leave the mesh in a valid state or else other tools may behave incorrectly.
 Any errors that arise from not following these conventions is considered a bug in the script,
-not a bug in blender.
+not a bug in Blender.
 
 
 Selection / Flushing
 ^^^^^^^^^^^^^^^^^^^^
 
 As mentioned above, it is possible to create an invalid selection state
-(by selecting a state and then de-selecting one of its vertices's for example), mostly the best way to solve this is to
-flush the selection after performing a series of edits. this validates the selection state.
+(by selecting a state and then deselecting one of its vertices for example),
+mostly the best way to solve this is to flush the selection
+after performing a series of edits. This validates the selection state.
 
 
 Module Functions

doc/python_api/rst/info_api_reference.rst

@@ -3,94 +3,84 @@
 Reference API Usage
 *******************
 
-Blender has many interlinking data types which have an auto-generated reference api which often has the information
+Blender has many interlinking data types which have an auto-generated reference API which often has the information
 you need to write a script, but can be difficult to use.
-
-This document is designed to help you understand how to use the reference api.
+This document is designed to help you understand how to use the reference API.
 
 
 Reference API Scope
 ===================
 
-The reference API covers :mod:`bpy.types`, which stores types accessed via :mod:`bpy.context` - *The user context*
-or :mod:`bpy.data` - *Blend file data*.
+The reference API covers :mod:`bpy.types`, which stores types accessed via :mod:`bpy.context` -- *the user context*
+or :mod:`bpy.data` -- *blend-file data*.
 
-Other modules such as :mod:`bmesh` and :mod:`aud` are not using Blenders data API
+Other modules such as :mod:`bmesh` and :mod:`aud` are not using Blender's data API
 so this document doesn't apply to those modules.
 
 
 Data Access
 ===========
 
-The most common case for using the reference API is to find out how to access data in the blend file.
-
-Before going any further its best to be aware of ID Data-Blocks in Blender since you will often find properties
+The most common case for using the reference API is to find out how to access data in the blend-file.
+Before going any further its best to be aware of ID data-blocks in Blender since you will often find properties
 relative to them.
 
 
 ID Data
 -------
 
-ID Data-Blocks are used in Blender as top-level data containers.
+ID data-blocks are used in Blender as top-level data containers.
+From the user interface this isn't so obvious, but when developing you need to know about ID data-blocks.
+ID data types include Scene, Group, Object, Mesh, Workspace, World, Armature, Image and Texture.
+For a full list see the subclasses of :class:`bpy.types.ID`.
 
-From the user interface this isn't so obvious, but when developing you need to know about ID Data-Blocks.
+Here are some characteristics ID data-blocks share:
 
-ID data types include Scene, Group, Object, Mesh, Screen, World, Armature, Image and Texture.
-for a full list see the sub-classes of :class:`bpy.types.ID`
-
-Here are some characteristics ID Data-Blocks share.
-
-- ID's are blend file data, so loading a new blend file reloads an entire new set of Data-Blocks.
-- ID's can be accessed in Python from ``bpy.data.*``
+- IDs are blend-file data, so loading a new blend-file reloads an entire new set of data-blocks.
+- IDs can be accessed in Python from ``bpy.data.*``.
 - Each data-block has a unique ``.name`` attribute, displayed in the interface.
-- Animation data is stored in ID's ``.animation_data``.
-- ID's are the only data types that can be linked between blend files.
-- ID's can be added/copied and removed via Python.
-- ID's have their own garbage-collection system which frees unused ID's when saving.
-- When a data-block has a reference to some external data, this is typically an ID Data-Block.
+- Animation data is stored in IDs ``.animation_data``.
+- IDs are the only data types that can be linked between blend-files.
+- IDs can be added/copied and removed via Python.
+- IDs have their own garbage-collection system which frees unused IDs when saving.
+- When a data-block has a reference to some external data, this is typically an ID data-block.
 
 
 Simple Data Access
 ------------------
 
-Lets start with a simple case, say you want a python script to adjust the object's location.
+In this simple case a Python script is used to adjust the object's location.
+Start by collecting the information where the data is located.
 
-Start by finding this setting in the interface ``Properties Window -> Object -> Transform -> Location``
-
-From the button you can right click and select **Online Python Reference**, this will link you to:
-:class:`bpy.types.Object.location`
-
-Being an API reference, this link often gives little more information then the tool-tip, though some of the pages
+First find this setting in the interface ``Properties editor -> Object -> Transform -> Location``.
+From the button context menu select *Online Python Reference*, this will link you to:
+:class:`bpy.types.Object.location`.
+Being an API reference, this link often gives little more information then the tooltip, though some of the pages
 include examples (normally at the top of the page).
+But you now know that you have to use ``.location`` and that its an array of three floats.
 
-At this point you may say *Now what?* - you know that you have to use ``.location`` and that its an array of 3 floats
-but you're still left wondering how to access this in a script.
-
-So the next step is to find out where to access objects, go down to the bottom of the page to the **References**
-section, for objects there are many references, but one of the most common places to access objects is via the context.
-
-It's easy to be overwhelmed at this point since there ``Object`` get referenced in so many places - modifiers,
-functions, textures and constraints.
-
+So the next step is to find out where to access objects, go down to the bottom of the page to the references section,
+for objects there are many references, but one of the most common places to access objects is via the context.
+It's easy to be overwhelmed at this point since there ``Object`` get referenced in so many places:
+modifiers, functions, textures and constraints.
 But if you want to access any data the user has selected
 you typically only need to check the :mod:`bpy.context` references.
 
-Even then, in this case there are quite a few though if you read over these - most are mode specific.
-If you happen to be writing a tool that only runs in weight paint mode, then using ``weight_paint_object``
-would be appropriate.
-However to access an item the user last selected, look for the ``active`` members,
-Having access to a single active member the user selects is a convention in Blender: eg. ``active_bone``,
-``active_pose_bone``, ``active_node`` ... and in this case we can use - ``active_object``.
+Even then, in this case there are quite a few though
+if you read over these you'll notice that most are mode specific.
+If you happen to be writing a tool that only runs in Weight Paint Mode,
+then using ``weight_paint_object`` would be appropriate.
+However, to access an item the user last selected, look for the ``active`` members,
+Having access to a single active member the user selects is a convention in Blender:
+e.g. ``active_bone``, ``active_pose_bone``, ``active_node``, etc. and in this case you can use ``active_object``.
 
-
-So now we have enough information to find the location of the active object.
+So now you have enough information to find the location of the active object.
 
 .. code-block:: python
 
    bpy.context.active_object.location
 
-You can type this into the python console to see the result.
-
+You can type this into the Python console to see the result.
 The other common place to access objects in the reference is :class:`bpy.types.BlendData.objects`.
 
 .. note::
@@ -100,7 +90,7 @@ The other common place to access objects in the reference is :class:`bpy.types.B
    so the documentation points there.
 
 
-With :mod:`bpy.data.objects`, this is a collection of objects so you need to access one of its members.
+With :mod:`bpy.data.objects`, this is a collection of objects so you need to access one of its members:
 
 .. code-block:: python
 
@@ -117,37 +107,34 @@ Here are some more complex examples:
 
 .. code-block:: python
 
-   # access a render layers samples
-   bpy.context.scene.render.layers["RenderLayer"].samples
+   # Access the number of samples for the Cycles render engine.
+   bpy.context.scene.cycles.samples
 
-   # access to the current weight paint brush size
+   # Access to the current weight paint brush size.
    bpy.context.tool_settings.weight_paint.brush.size
 
-   # check if the window is fullscreen
+   # Check if the window is full-screen.
    bpy.context.window.screen.show_fullscreen
 
 
 As you can see there are times when you want to access data which is nested
 in a way that causes you to go through a few indirections.
+The properties are arranged to match how data is stored internally (in Blender's C code) which is often logical
+but not always quite what you would expect from using Blender.
+So this takes some time to learn, it helps you understand how data fits together in Blender
+which is important to know when writing scripts.
 
-The properties are arranged to match how data is stored internally (in blenders C code) which is often logical but
-not always quite what you would expect from using Blender.
-
-So this takes some time to learn, it helps you understand how data fits together in Blender which is important
-to know when writing scripts.
-
-
-When starting out scripting you will often run into the problem where you're not sure how to access the data you want.
-
-There are a few ways to do this.
+When starting out scripting you will often run into the problem
+where you're not sure how to access the data you want.
+There are a few ways to do this:
 
 - Use the Python console's auto-complete to inspect properties.
   *This can be hit-and-miss but has the advantage
   that you can easily see the values of properties and assign them to interactively see the results.*
-- Copy the Data-Path from the user interface.
-  *Explained further in :ref:`Copy Data Path <info_data_path_copy>`*
+- Copy the data path from the user interface.
+  *Explained further in* :ref:`Copy Data Path <info_data_path_copy>`.
 - Using the documentation to follow references.
-  *Explained further in :ref:`Indirect Data Access <info_data_path_indirect>`*
+  *Explained further in* :ref:`Indirect Data Access <info_data_path_indirect>`.
 
 
 .. _info_data_path_copy:
@@ -155,42 +142,36 @@ There are a few ways to do this.
 Copy Data Path
 --------------
 
-Blender can compute the Python string to a property which is shown in the tool-tip, on the line below ``Python: ...``,
-This saves having to use the API reference to click back up the references to find where data is accessed from.
-
-There is a user-interface feature to copy the data-path which gives the path from an :class:`bpy.types.ID` data-block,
+Blender can compute the Python string to a property which is shown in the tooltip,
+on the line below ``Python: ...``. This saves having to open the API references to find where data is accessed from.
+In the context menu is a copy data-path tool which gives the path from an :class:`bpy.types.ID` data-block,
 to its property.
 
-To see how this works we'll get the path to the Subdivision-Surface modifiers subdivision setting.
-
-Start with the default scene and select the **Modifiers** tab, then add a **Subdivision-Surface** modifier to the cube.
-
-Now hover your mouse over the button labeled **View**, The tool-tip includes :class:`bpy.types.SubsurfModifier.levels`
-but we want the path from the object to this property.
+To see how this works you'll get the path to the Subdivision Surface modifiers *Levels* setting.
+Start with the default scene and select the Modifiers tab, then add a Subdivision Surface modifier to the cube.
+Now hover your mouse over the button labeled *Levels Viewport*,
+The tooltip includes :class:`bpy.types.SubsurfModifier.levels` but you want the path from the object to this property.
 
 Note that the text copied won't include the ``bpy.data.collection["name"].`` component since its assumed that
 you won't be doing collection look-ups on every access and typically you'll want to use the context rather
 then access each :class:`bpy.types.ID` instance by name.
 
-
 Type in the ID path into a Python console :mod:`bpy.context.active_object`.
-Include the trailing dot and don't hit "enter", yet.
+Include the trailing dot and don't execute the code, yet.
 
-Now right-click on the button and select **Copy Data Path**, then paste the result into the console.
-
-So now you should have the answer:
+Now in the button's context menu select *Copy Data Path*, then paste the result into the console:
 
 .. code-block:: python
 
    bpy.context.active_object.modifiers["Subsurf"].levels
 
-Hit "enter" and you'll get the current value of 1. Now try changing the value to 2:
+Press :kbd:`Return` and you'll get the current value of 1. Now try changing the value to 2:
 
 .. code-block:: python
 
-  bpy.context.active_object.modifiers["Subsurf"].levels = 2
+   bpy.context.active_object.modifiers["Subsurf"].levels = 2
 
-You can see the value update in the Subdivision-Surface modifier's UI as well as the cube.
+You can see the value update in the Subdivision Surface modifier's UI as well as the cube.
 
 
 .. _info_data_path_indirect:
@@ -198,51 +179,45 @@ You can see the value update in the Subdivision-Surface modifier's UI as well as
 Indirect Data Access
 --------------------
 
-For this example we'll go over something more involved, showing the steps to access the active sculpt brushes texture.
+This more advanced example shows the steps to access the active sculpt brushes texture.
+For example, if you want to access the texture of a brush via Python to adjust its ``contrast``.
 
-Lets say we want to access the texture of a brush via Python, to adjust its ``contrast`` for example.
+#. Start in the default scene and enable Sculpt Mode from the 3D Viewport header.
+#. From the Sidebar expand the Brush Settings panel's *Texture* subpanel and add a new texture.
+   *Notice the texture data-block menu itself doesn't have very useful links (you can check the tooltips).*
+#. The contrast setting isn't exposed in the Sidebar, so view the texture in the properties editor:
 
-- Start in the default scene and enable 'Sculpt' mode from the 3D-View header.
-- From the toolbar expand the **Texture** panel and add a new texture.
-  *Notice the texture button its self doesn't have very useful links (you can check the tooltips).*
-- The contrast setting isn't exposed in the sculpt toolbar, so view the texture in the properties panel...
+   - In the properties editor select the Texture tab.
+   - Select brush texture.
+   - Expand the *Colors* panel to locate the *Contrast* number field.
+#. Open the context menu of the contrast field and select *Online Python Reference*.
+   This takes you to ``bpy.types.Texture.contrast``. Now you can see that ``contrast`` is a property of texture.
+#. To find out how to access the texture from the brush check on the references at the bottom of the page.
+   Sometimes there are many references, and it may take some guesswork to find the right one,
+   but in this case it's ``Brush.texture``.
 
-  - In the properties button select the Texture context.
-  - Select the Brush icon to show the brush texture.
-  - Expand the *Colors* panel to locate the *Contrast* button.
-- Right click on the contrast button and select **Online Python Reference**
-  This takes you to ``bpy.types.Texture.contrast``
-- Now we can see that ``contrast`` is a property of texture,
-  so next we'll check on how to access the texture from the brush.
-- Check on the **References** at the bottom of the page, sometimes there are many references, and it may take
-  some guess work to find the right one, but in this case its obviously ``Brush.texture``.
+#. Now you know that the texture can be accessed from ``bpy.data.brushes["BrushName"].texture``
+   but normally you *won't* want to access the brush by name, instead you want to access the active brush.
+   So the next step is to check on where brushes are accessed from via the references.
+   In this case there it is simply ``bpy.context.brush``.
 
-  *Now we know that the texture can be accessed from* ``bpy.data.brushes["BrushName"].texture``
-  *but normally you won't want to access the brush by name, so we'll see now to access the active brush instead.*
-- So the next step is to check on where brushes are accessed from via the **References**.
-  In this case there is simply ``bpy.context.brush`` which is all we need.
+Now you can use the Python console to form the nested properties needed to access brush textures contrast:
+*Context -> Brush -> Texture -> Contrast*.
 
-Now you can use the Python console to form the nested properties needed to access brush textures contrast,
-logically we now know.
-
-*Context -> Brush -> Texture -> Contrast*
-
-Since the attribute for each is given along the way we can compose the data path in the python console:
+Since the attribute for each is given along the way you can compose the data path in the Python console:
 
 .. code-block:: python
 
    bpy.context.brush.texture.contrast
 
-
 There can be multiple ways to access the same data, which you choose often depends on the task.
-
-An alternate path to access the same setting is...
+An alternate path to access the same setting is:
 
 .. code-block:: python
 
    bpy.context.sculpt.brush.texture.contrast
 
-Or access the brush directly...
+Or access the brush directly:
 
 .. code-block:: python
 
@@ -251,27 +226,24 @@ Or access the brush directly...
 
 If you are writing a user tool normally you want to use the :mod:`bpy.context` since the user normally expects
 the tool to operate on what they have selected.
-
-For automation you are more likely to use :mod:`bpy.data` since you want to be able to access specific data and manipulate
-it, no matter what the user currently has the view set at.
+For automation you are more likely to use :mod:`bpy.data` since you want to be able to access specific data and
+manipulate it, no matter what the user currently has the view set at.
 
 
 Operators
 =========
 
-Most key-strokes and buttons in Blender call an operator which is also exposed to python via :mod:`bpy.ops`,
+Most hotkeys and buttons in Blender call an operator which is also exposed to Python via :mod:`bpy.ops`.
 
-To see the Python equivalent hover your mouse over the button and see the tool-tip,
-eg ``Python: bpy.ops.render.render()``,
-If there is no tool-tip or the ``Python:`` line is missing then this button is not using an operator and
-can't be accessed from Python.
+To see the Python equivalent hover your mouse over the button and see the tooltip,
+e.g ``Python: bpy.ops.render.render()``,
+If there is no tooltip or the ``Python:`` line is missing then this button is not using an operator
+and can't be accessed from Python.
 
-
-If you want to use this in a script you can press :kbd:`Control-C` while your mouse is over the button to copy it to the
-clipboard.
-
-You can also right click on the button and view the **Online Python Reference**, this mainly shows arguments and
-their defaults however operators written in Python show their file and line number which may be useful if you
+If you want to use this in a script you can press :kbd:`Ctrl-C` while your mouse is over the button
+to copy it to the clipboard.
+You can also use button's context menu and view the *Online Python Reference*, this mainly shows arguments and
+their defaults, however, operators written in Python show their file and line number which may be useful if you
 are interested to check on the source code.
 
 .. note::
@@ -280,21 +252,18 @@ are interested to check on the source code.
    for more on this see :ref:`using operators <using_operators>`.
 
 
-Info View
----------
+Info Editor
+-----------
 
-Blender records operators you run and displays them in the **Info** space.
-This is located above the file-menu which can be dragged down to display its contents.
+Blender records operators you run and displays them in the Info editor.
+Select the Scripting workspace that comes default with Blender to see its output.
+You can perform some actions and see them show up -- delete a vertex for example.
 
-Select the **Script** screen that comes default with Blender to see its output.
-You can perform some actions and see them show up - delete a vertex for example.
-
-Each entry can be selected (Right-Mouse-Button),
-then copied :kbd:`Control-C`, usually to paste in the text editor or python console.
+Each entry can be selected, then copied :kbd:`Ctrl-C`, usually to paste in the text editor or Python console.
 
 .. note::
 
    Not all operators get registered for display,
    zooming the view for example isn't so useful to repeat so its excluded from the output.
 
-   To display *every* operator that runs see :ref:`Show All Operators <info_show_all_operators>`
+   To display *every* operator that runs see :ref:`Show All Operators <info_show_all_operators>`.

doc/python_api/rst/info_best_practice.rst

@@ -3,38 +3,34 @@
 Best Practice
 *************
 
-When writing your own scripts python is great for new developers to pick up and become productive,
-but you can also pick up odd habits or at least write scripts that are not easy for others to understand.
-
+When writing your own scripts Python is great for new developers to pick up and become productive,
+but you can also pick up bad practices or at least write scripts that are not easy for others to understand.
 For your own work this is of course fine,
-but if you want to collaborate with others or have your work included with blender there are practices we encourage.
+but if you want to collaborate with others or have your work included with Blender there are practices we encourage.
 
 
 Style Conventions
 =================
 
-For Blender/Python development we have chosen to follow python suggested style guide to avoid mixing styles
-amongst our own scripts and make it easier to use python scripts from other projects.
+For Blender Python development we have chosen to follow Python suggested style guide to avoid mixing styles
+among our own scripts and make it easier to use Python scripts from other projects.
+Using our style guide for your own scripts makes it easier if you eventually want to contribute them to Blender.
 
-Using our style guide for your own scripts makes it easier if you eventually want to contribute them to blender.
+This style guide is known as `pep8 <https://www.python.org/dev/peps/pep-0008/>`__
+and here is a brief listing of pep8 criteria:
 
-This style guide is known as pep8 and can be found `here <https://www.python.org/dev/peps/pep-0008/>`_
+- Camel caps for class names: MyClass
+- All lower case underscore separated module names: my_module
+- Indentation of 4 spaces (no tabs)
+- Spaces around operators: ``1 + 1``, not ``1+1``
+- Only use explicit imports (no wildcard importing ``*``)
+- Don't use multiple statements on a single line: ``if val: body``, separate onto two lines instead.
 
-A brief listing of pep8 criteria.
-
-- camel caps for class names: MyClass
-- all lower case underscore separated module names: my_module
-- indentation of 4 spaces (no tabs)
-- spaces around operators. ``1 + 1``, not ``1+1``
-- only use explicit imports, (no importing ``*``)
-- don't use single line: ``if val: body``, separate onto 2 lines instead.
-
-
-As well as pep8 we have other conventions used for blender python scripts.
+As well as pep8 we have additional conventions used for Blender Python scripts:
 
 - Use single quotes for enums, and double quotes for strings.
 
-  Both are of course strings, but in our internal API enums are unique items from a limited set. eg.
+  Both are of course strings, but in our internal API enums are unique items from a limited set, e.g:
 
   .. code-block:: python
 
@@ -42,14 +38,14 @@ As well as pep8 we have other conventions used for blender python scripts.
      bpy.context.scene.render.filepath = "//render_out"
 
 - pep8 also defines that lines should not exceed 79 characters,
-  we felt this is too restrictive so this is optional per script.
+  we have decided that this is too restrictive so it is optional per script.
 
-Periodically we run checks for pep8 compliance on blender scripts,
-for scripts to be included in this check add this line as a comment at the top of the script.
+Periodically we run checks for pep8 compliance on Blender scripts,
+for scripts to be included in this check add this line as a comment at the top of the script:
 
 ``# <pep8 compliant>``
 
-To enable line length checks use this instead.
+To enable line length checks use this instead:
 
 ``# <pep8-80 compliant>``
 
@@ -59,85 +55,79 @@ User Interface Layout
 
 Some notes to keep in mind when writing UI layouts:
 
-- UI code is quite simple. Layout declarations are there to easily create a decent layout.
+UI code is quite simple. Layout declarations are there to easily create a decent layout.
+The general rule here is: If you need more code for the layout declaration,
+than for the actual properties, then you are doing it wrong.
 
-  General rule here: If you need more code for the layout declaration,
-  then for the actual properties, you do it wrong.
 
-Example layouts:
+.. rubric:: Example layouts:
 
-- layout()
+``layout()``
+   The basic layout is a simple top-to-bottom layout.
 
-  The basic layout is a simple Top -> Bottom layout.
+   .. code-block:: python
 
-  .. code-block:: python
+      layout.prop()
+      layout.prop()
 
-        layout.prop()
-        layout.prop()
+``layout.row()``
+   Use ``row()``, when you want more than one property in a single line.
 
-- layout.row()
+   .. code-block:: python
 
-  Use row(), when you want more than 1 property in one line.
+      row = layout.row()
+      row.prop()
+      row.prop()
 
-  .. code-block:: python
+``layout.column()``
+   Use ``column()``, when you want your properties in a column.
 
-        row = layout.row()
-        row.prop()
-        row.prop()
+   .. code-block:: python
 
-- layout.column()
+      col = layout.column()
+      col.prop()
+      col.prop()
 
-  Use column(), when you want your properties in a column.
+``layout.split()``
+   This can be used to create more complex layouts.
+   For example, you can split the layout and create two ``column()`` layouts next to each other.
+   Do not use split, when you simply want two properties in a row. Use ``row()`` instead.
 
-  .. code-block:: python
+   .. code-block:: python
 
-        col = layout.column()
-        col.prop()
-        col.prop()
+      split = layout.split()
 
-- layout.split()
+      col = split.column()
+      col.prop()
+      col.prop()
 
-  This can be used to create more complex layouts.
-  For example you can split the layout and create two column() layouts next to each other.
-  Don't use split, when you simply want two properties in a row. Use row() for that.
+      col = split.column()
+      col.prop()
+      col.prop()
 
-  .. code-block:: python
 
-        split = layout.split()
-
-        col = split.column()
-        col.prop()
-        col.prop()
-
-        col = split.column()
-        col.prop()
-        col.prop()
-
-Declaration names:
+.. rubric:: Declaration names:
 
 Try to only use these variable names for layout declarations:
 
-- row for a row() layout
-- col for a column() layout
-- split for a split() layout
-- flow for a column_flow() layout
-- sub for a sub layout (a column inside a column for example)
+:row: for a ``row()`` layout
+:col: for a ``column()`` layout
+:split: for a ``split()`` layout
+:flow: for a ``column_flow()`` layout
+:sub: for a sub layout (a column inside a column for example)
 
 
 Script Efficiency
 =================
 
-
 List Manipulation (General Python Tips)
 ---------------------------------------
 
-
-Searching for list items
+Searching for List Items
 ^^^^^^^^^^^^^^^^^^^^^^^^
 
 In Python there are some handy list functions that save you having to search through the list.
-
-Even though you are not looping on the list data **python is**,
+Even though you are not looping on the list data **Python is**,
 so you need to be aware of functions that will slow down your script by searching the whole list.
 
 .. code-block:: python
@@ -150,23 +140,21 @@ so you need to be aware of functions that will slow down your script by searchin
 
 Modifying Lists
 ^^^^^^^^^^^^^^^
-In python we can add and remove from a list, this is slower when the list length is modified,
-especially at the start of the list, since all the data after the index of
-modification needs to be moved up or down 1 place.
 
-The most simple way to add onto the end of the list is to use
-``my_list.append(list_item)`` or ``my_list.extend(some_list)`` and the fastest way to
-remove an item is ``my_list.pop()`` or ``del my_list[-1]``.
+In Python you can add and remove from a list, this is slower when the list length is modified,
+especially at the start of the list, since all the data after the index of
+modification needs to be moved up or down one place.
+
+The fastest way to add onto the end of the list is to use
+``my_list.append(list_item)`` or ``my_list.extend(some_list)`` and
+to remove an item is ``my_list.pop()`` or ``del my_list[-1]``.
 
 To use an index you can use ``my_list.insert(index, list_item)`` or ``list.pop(index)``
 for list removal, but these are slower.
 
-Sometimes its faster (but more memory hungry) to just rebuild the list.
-
-
-Say you want to remove all triangular polygons in a list.
-
-Rather than...
+Sometimes it's faster (but less memory efficient) to just rebuild the list.
+For example if you want to remove all triangular polygons in a list.
+Rather than:
 
 .. code-block:: python
 
@@ -179,7 +167,7 @@ Rather than...
            polygons.pop(p_idx)  # remove the triangle
 
 
-It's faster to build a new list with list comprehension.
+It's faster to build a new list with list comprehension:
 
 .. code-block:: python
 
@@ -189,14 +177,14 @@ It's faster to build a new list with list comprehension.
 Adding List Items
 ^^^^^^^^^^^^^^^^^
 
-If you have a list that you want to add onto another list, rather than...
+If you have a list that you want to add onto another list, rather than:
 
 .. code-block:: python
 
    for l in some_list:
        my_list.append(l)
 
-Use...
+Use:
 
 .. code-block:: python
 
@@ -205,9 +193,7 @@ Use...
 
 Note that insert can be used when needed,
 but it is slower than append especially when inserting at the start of a long list.
-
-This example shows a very sub-optimal way of making a reversed list.
-
+This example shows a very suboptimal way of making a reversed list:
 
 .. code-block:: python
 
@@ -219,7 +205,6 @@ This example shows a very sub-optimal way of making a reversed list.
 Python provides more convenient ways to reverse a list using the slice method,
 but you may want to time this before relying on it too much:
 
-
 .. code-block:: python
 
   some_reversed_list = some_list[::-1]
@@ -228,12 +213,10 @@ but you may want to time this before relying on it too much:
 Removing List Items
 ^^^^^^^^^^^^^^^^^^^
 
-Use ``my_list.pop(index)`` rather than ``my_list.remove(list_item)``
-
+Use ``my_list.pop(index)`` rather than ``my_list.remove(list_item)``.
 This requires you to have the index of the list item but is faster since ``remove()`` will search the list.
-
-Here is an example of how to remove items in 1 loop,
-removing the last items first, which is faster (as explained above).
+Here is an example of how to remove items in one loop,
+removing the last items first, which is faster (as explained above):
 
 .. code-block:: python
 
@@ -247,7 +230,7 @@ removing the last items first, which is faster (as explained above).
 
 This example shows a fast way of removing items,
 for use in cases where you can alter the list order without breaking the scripts functionality.
-This works by swapping 2 list items, so the item you remove is always last.
+This works by swapping two list items, so the item you remove is always last:
 
 .. code-block:: python
 
@@ -260,64 +243,59 @@ This works by swapping 2 list items, so the item you remove is always last.
    my_list.pop()
 
 
-When removing many items in a large list this can provide a good speedup.
+When removing many items in a large list this can provide a good speed-up.
 
 
 Avoid Copying Lists
 ^^^^^^^^^^^^^^^^^^^
 
-When passing a list/dictionary to a function,
+When passing a list or dictionary to a function,
 it is faster to have the function modify the list rather than returning
-a new list so python doesn't have to duplicate the list in memory.
+a new list so Python doesn't have to duplicate the list in memory.
 
 Functions that modify a list in-place are more efficient than functions that create new lists.
-
-
-This is generally slower so only use for functions when it makes sense not to modify the list in place.
+This is generally slower so only use for functions when it makes sense not to modify the list in place:
 
 >>> my_list = some_list_func(my_list)
 
 
-This is generally faster since there is no re-assignment and no list duplication.
+This is generally faster since there is no re-assignment and no list duplication:
 
 >>> some_list_func(vec)
 
 
-Also note that passing a sliced list makes a copy of the list in python memory.
+Also note that, passing a sliced list makes a copy of the list in Python memory:
 
 >>> foobar(my_list[:])
 
-If my_list was a large array containing 10000's of items, a copy could use a lot of extra memory.
+If my_list was a large array containing 10,000's of items, a copy could use a lot of extra memory.
 
 
 Writing Strings to a File (Python General)
 ------------------------------------------
 
-Here are 3 ways of joining multiple strings into one string for writing.
-This also applies to any area of your code that involves a lot of string joining.
+Here are three ways of joining multiple strings into one string for writing.
+This also applies to any area of your code that involves a lot of string joining:
+
+String concatenation
+   This is the slowest option, do **not** use if you can avoid it, especially when writing data in a loop.
+
+   >>> file.write(str1 + " " + str2 + " " + str3 + "\n")
+
+String formatting
+   Use this when you are writing string data from floats and ints.
+
+   >>> file.write("%s %s %s\n" % (str1, str2, str3))
+
+String joining
+   Use to join a list of strings (the list may be temporary). In the following example, the strings are joined with
+   a space " " in between, other examples are "" or ", ".
+
+   >>> file.write(" ".join((str1, str2, str3, "\n")))
 
 
-``String addition`` -
-this is the slowest option, *don't use if you can help it, especially when writing data in a loop*.
-
->>> file.write(str1 + " " + str2 + " " + str3 + "\n")
-
-
-``String formatting`` -
-use this when you are writing string data from floats and ints.
-
->>> file.write("%s %s %s\n" % (str1, str2, str3))
-
-
-``String join() function``
-use to join a list of strings (the list may be temporary). In the following example, the strings are joined with a space " " in between, other examples are "" or ", ".
-
->>> file.write(" ".join([str1, str2, str3, "\n"]))
-
-
-Join is fastest on many strings,
-`string formatting <https://wiki.blender.org/index.php/Dev:Source/Modeling/BMesh/Design>`__
-is quite fast too (better for converting data types). String arithmetic is slowest.
+Join is fastest on many strings, string formatting is quite fast too (better for converting data types).
+String concatenation is the slowest.
 
 
 Parsing Strings (Import/Exporting)
@@ -333,36 +311,35 @@ Parsing Numbers
 ^^^^^^^^^^^^^^^
 
 Use ``float(string)`` rather than ``eval(string)``, if you know the value will be an int then ``int(string)``,
-float() will work for an int too but it is faster to read ints with int().
+``float()`` will work for an int too but it is faster to read ints with ``int()``.
 
 
 Checking String Start/End
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-If you are checking the start of a string for a keyword, rather than...
+If you are checking the start of a string for a keyword, rather than:
 
 >>> if line[0:5] == "vert ": ...
 
-use...
+Use:
 
 >>> if line.startswith("vert "):
 
-Using ``startswith()`` is slightly faster (approx 5%) and also avoids a possible
-error with the slice length not matching the string length.
+Using ``startswith()`` is slightly faster (around 5%) and also avoids a possible error
+with the slice length not matching the string length.
 
-my_string.endswith("foo_bar") can be used for line endings too.
+``my_string.endswith("foo_bar")`` can be used for line endings too.
 
-If you are unsure whether the text is upper or lower case, use the ``lower()`` or ``upper()`` string function.
+If you are unsure whether the text is upper or lower case, use the ``lower()`` or ``upper()`` string function:
 
 >>> if line.lower().startswith("vert ")
 
 
-Use try/except Sparingly
-------------------------
+Error Handling
+--------------
 
 The **try** statement is useful to save time writing error checking code.
-
-However **try** is significantly slower than an **if** since an exception has to be set each time,
+However, **try** is significantly slower than an **if** since an exception has to be set each time,
 so avoid using **try** in areas of your code that execute in a loop and runs many times.
 
 There are cases where using **try** is faster than checking whether the condition will raise an error,
@@ -382,7 +359,7 @@ In cases where you know you are checking for the same value which is referenced
 Time Your Code
 --------------
 
-While developing a script it is good to time it to be aware of any changes in performance, this can be done simply.
+While developing a script it is good to time it to be aware of any changes in performance, this can be done simply:
 
 .. code-block:: python
 

doc/python_api/rst/info_gotcha.rst

@@ -4,7 +4,7 @@ Gotchas
 *******
 
 This document attempts to help you work with the Blender API in areas
-that can be troublesome and avoid practices that are known to give instability.
+that can be troublesome and avoid practices that are known to cause instability.
 
 
 .. _using_operators:
@@ -12,13 +12,13 @@ that can be troublesome and avoid practices that are known to give instability.
 Using Operators
 ===============
 
-Blender's operators are tools for users to access, that Python can access them too is very useful
-nevertheless operators have limitations that can make them cumbersome to script.
+Blender's operators are tools for users to access, that can access with Python too which is very useful.
+Still operators have limitations that can make them cumbersome to script.
 
-Main limits are...
+The main limits are:
 
-- Can't pass data such as objects, meshes or materials to operate on (operators use the context instead)
-- The return value from calling an operator gives the success (if it finished or was canceled),
+- Can't pass data such as objects, meshes or materials to operate on (operators use the context instead).
+- The return value from calling an operator is the success (if it finished or was canceled),
   in some cases it would be more logical from an API perspective to return the result of the operation.
 - Operators poll function can fail where an API function would raise an exception giving details on exactly why.
 
@@ -34,26 +34,23 @@ When calling an operator gives an error like this:
 Which raises the question as to what the correct context might be?
 
 Typically operators check for the active area type, a selection or active object they can operate on,
-but some operators are more picky about when they run.
-
+but some operators are more strict when they run.
 In most cases you can figure out what context an operator needs
-simply be seeing how it's used in Blender and thinking about what it does.
-
-Unfortunately if you're still stuck - the only way to **really** know
-what's going on is to read the source code for the poll function and see what its checking.
+by examining how it's used in Blender and thinking about what it does.
 
+If you're still stuck, unfortunately, the only way to eventually know what is causing the error is
+to read the source code for the poll function and see what it is checking.
 For Python operators it's not so hard to find the source
-since it's included with Blender and the source file/line is included in the operator reference docs.
-
+since it's included with Blender and the source file and line is included in the operator reference docs.
 Downloading and searching the C code isn't so simple,
-especially if you're not familiar with the C language but by searching the
-operator name or description you should be able to find the poll function with no knowledge of C.
+especially if you're not familiar with the C language but by searching the operator name or description
+you should be able to find the poll function with no knowledge of C.
 
 .. note::
 
    Blender does have the functionality for poll functions to describe why they fail,
-   but its currently not used much, if you're interested to help improve our API
-   feel free to add calls to ``CTX_wm_operator_poll_msg_set`` where its not obvious why poll fails.
+   but its currently not used much, if you're interested to help improve the API
+   feel free to add calls to ``CTX_wm_operator_poll_msg_set`` where its not obvious why poll fails, e.g:
 
       >>> bpy.ops.gpencil.draw()
       RuntimeError: Operator bpy.ops.gpencil.draw.poll() Failed to find Grease Pencil data to draw into
@@ -63,7 +60,7 @@ The operator still doesn't work!
 --------------------------------
 
 Certain operators in Blender are only intended for use in a specific context,
-some operators for example are only called from the properties window where they check the current material,
+some operators for example are only called from the properties editor where they check the current material,
 modifier or constraint.
 
 Examples of this are:
@@ -74,8 +71,8 @@ Examples of this are:
 - :mod:`bpy.ops.buttons.file_browse`
 
 Another possibility is that you are the first person to attempt to use this operator
-in a script and some modifications need to be made to the operator to run in a different context,
-if the operator should logically be able to run but fails when accessed from a script
+in a script and some modifications need to be made to the operator to run in a different context.
+If the operator should logically be able to run but fails when accessed from a script
 it should be reported to the bug tracker.
 
 
@@ -85,22 +82,20 @@ Stale Data
 No updates after setting values
 -------------------------------
 
-Sometimes you want to modify values from Python and immediately access the updated values, eg:
-
+Sometimes you want to modify values from Python and immediately access the updated values, e.g:
 Once changing the objects :class:`bpy.types.Object.location`
 you may want to access its transformation right after from :class:`bpy.types.Object.matrix_world`,
 but this doesn't work as you might expect.
 
-Consider the calculations that might go into working out the object's final transformation, this includes:
+Consider the calculations that might contribute to the object's final transformation, this includes:
 
-- animation function curves.
-- drivers and their Python expressions.
-- constraints
-- parent objects and all of their f-curves, constraints etc.
+- Animation function curves.
+- Drivers and their Python expressions.
+- Constraints
+- Parent objects and all of their F-curves, constraints, etc.
 
 To avoid expensive recalculations every time a property is modified,
-Blender defers making the actual calculations until they are needed.
-
+Blender defers the evaluation until the results are needed.
 However, while the script runs you may want to access the updated values.
 In this case you need to call :class:`bpy.types.ViewLayer.update` after modifying values, for example:
 
@@ -110,44 +105,41 @@ In this case you need to call :class:`bpy.types.ViewLayer.update` after modifyin
    bpy.context.view_layer.update()
 
 
-Now all dependent data (child objects, modifiers, drivers... etc)
+Now all dependent data (child objects, modifiers, drivers, etc.)
 has been recalculated and is available to the script within active view layer.
 
 
-Can I redraw during the script?
--------------------------------
+Can I redraw during script execution?
+-------------------------------------
 
 The official answer to this is no, or... *"You don't want to do that"*.
-
-To give some background on the topic...
+To give some background on the topic:
 
 While a script executes Blender waits for it to finish and is effectively locked until its done,
 while in this state Blender won't redraw or respond to user input.
 Normally this is not such a problem because scripts distributed with Blender
 tend not to run for an extended period of time,
-nevertheless scripts *can* take ages to execute and its nice to see what's going on in the view port.
+nevertheless scripts *can* take a long time to complete and it would be nice to see progress in the viewport.
 
-Tools that lock Blender in a loop and redraw are highly discouraged
-since they conflict with Blenders ability to run multiple operators
+When tools lock Blender in a loop redraw are highly discouraged
+since they conflict with Blender's ability to run multiple operators
 at once and update different parts of the interface as the tool runs.
 
-So the solution here is to write a **modal** operator, that is - an operator which defines a modal() function,
-See the modal operator template in the text  editor.
-
+So the solution here is to write a **modal** operator, which is an operator that defines a ``modal()`` function,
+See the modal operator template in the text editor.
 Modal operators execute on user input or setup their own timers to run frequently,
 they can handle the events or pass through to be handled by the keymap or other modal operators.
-
-Transform, Painting, Fly-Mode and File-Select are example of a modal operators.
+Examples of a modal operators are Transform, Painting, Fly Navigation and File Select.
 
 Writing modal operators takes more effort than a simple ``for`` loop
-that happens to redraw but is more flexible and integrates better with Blenders design.
+that contains draw calls but is more flexible and integrates better with Blender's design.
 
 
-**Ok, Ok! I still want to draw from Python**
+.. rubric:: Ok, Ok! I still want to draw from Python
 
-If you insist - yes its possible, but scripts that use this hack won't be considered
-for inclusion in Blender and any issues with using it won't be considered bugs,
-this is also not guaranteed to work in future releases.
+If you insist -- yes it's possible, but scripts that use this hack will not be considered
+for inclusion in Blender and any issue with using it will not be considered a bug,
+there is also no guaranteed compatibility in future releases.
 
 .. code-block:: python
 
@@ -157,18 +149,18 @@ this is also not guaranteed to work in future releases.
 Modes and Mesh Access
 =====================
 
-When working with mesh data you may run into the problem where a script fails to run as expected in edit-mode.
-This is caused by edit-mode having its own data which is only written back to the mesh when exiting edit-mode.
+When working with mesh data you may run into the problem where a script fails to run as expected in Edit-Mode.
+This is caused by Edit-Mode having its own data which is only written back to the mesh when exiting Edit-Mode.
 
 A common example is that exporters may access a mesh through ``obj.data`` (a :class:`bpy.types.Mesh`)
-but the user is in edit-mode, where the mesh data is available but out of sync with the edit mesh.
+when the user is in Edit-Mode, where the mesh data is available but out of sync with the edit mesh.
 
 In this situation you can...
 
-- Exit edit-mode before running the tool.
+- Exit Edit-Mode before running the tool.
 - Explicitly update the mesh by calling :class:`bmesh.types.BMesh.to_mesh`.
 - Modify the script to support working on the edit-mode data directly, see: :mod:`bmesh.from_edit_mesh`.
-- Report the context as incorrect and only allow the script to run outside edit-mode.
+- Report the context as incorrect and only allow the script to run outside Edit-Mode.
 
 
 .. _info_gotcha_mesh_faces:
@@ -176,24 +168,24 @@ In this situation you can...
 N-Gons and Tessellation
 =======================
 
-Since 2.63 NGons are supported, this adds some complexity
+Since 2.63 n-gons are supported, this adds some complexity
 since in some cases you need to access triangles still (some exporters for example).
 
-There are now 3 ways to access faces:
+There are now three ways to access faces:
 
-- :class:`bpy.types.MeshPolygon` -
-  this is the data structure which now stores faces in object mode
+- :class:`bpy.types.MeshPolygon` --
+  this is the data structure which now stores faces in Object-Mode
   (access as ``mesh.polygons`` rather than ``mesh.faces``).
-- :class:`bpy.types.MeshLoopTriangle` -
+- :class:`bpy.types.MeshLoopTriangle` --
   the result of tessellating polygons into triangles
   (access as ``mesh.loop_triangles``).
-- :class:`bmesh.types.BMFace` -
-  the polygons as used in editmode.
+- :class:`bmesh.types.BMFace` --
+  the polygons as used in Edit-Mode.
 
 For the purpose of the following documentation,
-these will be referred to as polygons, loop triangles and bmesh-faces respectively.
+these will be referred to as polygons, loop triangles and BMesh-faces respectively.
 
-5+ sided faces will be referred to as ``ngons``.
+Faces with five or more sides will be referred to as ``ngons``.
 
 
 Support Overview
@@ -216,58 +208,58 @@ Support Overview
      - Unusable *(read-only)*.
      - Best
    * - Export/Output
-     - Good *(ngon support)*
-     - Good *(When ngons can't be used)*
-     - Good *(ngons, extra memory overhead)*
+     - Good *(n-gon support)*
+     - Good *(When n-gons cannot be used)*
+     - Good *(n-gons, extra memory overhead)*
 
 .. note::
 
    Using the :mod:`bmesh` API is completely separate API from :mod:`bpy`,
-   typically you would would use one or the other based on the level of editing needed,
+   typically you would use one or the other based on the level of editing needed,
    not simply for a different way to access faces.
 
 
 Creating
 --------
 
-All 3 datatypes can be used for face creation.
+All three data types can be used for face creation:
 
-- polygons are the most efficient way to create faces but the data structure is _very_ rigid and inflexible,
+- Polygons are the most efficient way to create faces but the data structure is *very* rigid and inflexible,
   you must have all your vertices and faces ready and create them all at once.
-  This is further complicated by the fact that each polygon does not store its own verts,
+  This is further complicated by the fact that each polygon does not store its own vertices,
   rather they reference an index and size in :class:`bpy.types.Mesh.loops` which are a fixed array too.
-- bmesh-faces are most likely the easiest way for new scripts to create faces,
-  since faces can be added one by one and the api has features intended for mesh manipulation.
+- BMesh-faces are most likely the easiest way to create faces in new scripts,
+  since faces can be added one by one and the API has features intended for mesh manipulation.
   While :class:`bmesh.types.BMesh` uses more memory it can be managed by only operating on one mesh at a time.
 
 
 Editing
 -------
 
-Editing is where the 3 data types vary most.
+Editing is where the three data types vary most.
 
 - Polygons are very limited for editing,
   changing materials and options like smooth works but for anything else
   they are too inflexible and are only intended for storage.
-- Tessfaces should not be used for editing geometry because doing so will cause existing ngons to be tessellated.
-- BMesh-Faces are by far the best way to manipulate geometry.
+- Tessfaces should not be used for editing geometry because doing so will cause existing n-gons to be tessellated.
+- BMesh-faces are by far the best way to manipulate geometry.
 
 
 Exporting
 ---------
 
-All 3 data types can be used for exporting,
-the choice mostly depends on whether the target format supports ngons or not.
+All three data types can be used for exporting,
+the choice mostly depends on whether the target format supports n-gons or not.
 
-- Polygons are the most direct & efficient way to export providing they convert into the output format easily enough.
-- Tessfaces work well for exporting to formats which don't support ngons,
+- Polygons are the most direct and efficient way to export providing they convert into the output format easily enough.
+- Tessfaces work well for exporting to formats which don't support n-gons,
   in fact this is the only place where their use is encouraged.
 - BMesh-Faces can work for exporting too but may not be necessary if polygons can be used
-  since using bmesh gives some overhead because its not the native storage format in object mode.
+  since using BMesh gives some overhead because its not the native storage format in Object-Mode.
 
 
-EditBones, PoseBones, Bone... Bones
-===================================
+Edit Bones, Pose Bones, Bone... Bones
+=====================================
 
 Armature Bones in Blender have three distinct data structures that contain them.
 If you are accessing the bones through one of them, you may not have access to the properties you really need.
@@ -280,43 +272,41 @@ If you are accessing the bones through one of them, you may not have access to t
 Edit Bones
 ----------
 
-``bpy.context.object.data.edit_bones`` contains a editbones;
-to access them you must set the armature mode to edit mode first (editbones do not exist in object or pose mode).
+``bpy.context.object.data.edit_bones`` contains an edit bones;
+to access them you must set the armature mode to Edit-Mode first (edit bones do not exist in Object or Pose-Mode).
 Use these to create new bones, set their head/tail or roll, change their parenting relationships to other bones, etc.
 
-Example using :class:`bpy.types.EditBone` in armature editmode:
-
-This is only possible in edit mode.
+Example using :class:`bpy.types.EditBone` in armature Edit-Mode
+which is only possible in Edit-Mode:
 
    >>> bpy.context.object.data.edit_bones["Bone"].head = Vector((1.0, 2.0, 3.0))
 
-This will be empty outside of editmode.
+This will be empty outside of Edit-Mode:
 
    >>> mybones = bpy.context.selected_editable_bones
 
-Returns an editbone only in edit mode.
+Returns an edit bone only in Edit-Mode:
 
    >>> bpy.context.active_bone
 
 
-Bones (Object Mode)
+Bones (Object-Mode)
 -------------------
 
 ``bpy.context.object.data.bones`` contains bones.
-These *live* in object mode, and have various properties you can change,
+These *live* in Object-Mode, and have various properties you can change,
 note that the head and tail properties are read-only.
 
-Example using :class:`bpy.types.Bone` in object or pose mode:
-
-Returns a bone (not an editbone) outside of edit mode
+Example using :class:`bpy.types.Bone` in Object or Pose-Mode
+returning a bone (not an edit bone) outside of Edit-Mode:
 
    >>> bpy.context.active_bone
 
-This works, as with blender the setting can be edited in any mode
+This works, as with Blender the setting can be edited in any mode:
 
    >>> bpy.context.object.data.bones["Bone"].use_deform = True
 
-Accessible but read-only
+Accessible but read-only:
 
    >>> tail = myobj.data.bones["Bone"].tail
 
@@ -326,42 +316,42 @@ Pose Bones
 
 ``bpy.context.object.pose.bones`` contains pose bones.
 This is where animation data resides, i.e. animatable transformations
-are applied to pose bones, as are constraints and ik-settings.
+are applied to pose bones, as are constraints and IK-settings.
 
-Examples using :class:`bpy.types.PoseBone` in object or pose mode:
+Examples using :class:`bpy.types.PoseBone` in Object or Pose-Mode:
 
 .. code-block:: python
 
    # Gets the name of the first constraint (if it exists)
    bpy.context.object.pose.bones["Bone"].constraints[0].name
 
-   # Gets the last selected pose bone (pose mode only)
+   # Gets the last selected pose bone (Pose-Mode only)
    bpy.context.active_pose_bone
 
 
 .. note::
 
    Notice the pose is accessed from the object rather than the object data,
-   this is why blender can have 2 or more objects sharing the same armature in different poses.
+   this is why Blender can have two or more objects sharing the same armature in different poses.
 
 .. note::
 
-   Strictly speaking PoseBone's are not bones, they are just the state of the armature,
+   Strictly speaking pose bones are not bones, they are just the state of the armature,
    stored in the :class:`bpy.types.Object` rather than the :class:`bpy.types.Armature`,
-   the real bones are however accessible from the pose bones - :class:`bpy.types.PoseBone.bone`
+   yet the real bones are accessible from the pose bones via :class:`bpy.types.PoseBone.bone`.
 
 
 Armature Mode Switching
 -----------------------
 
 While writing scripts that deal with armatures you may find you have to switch between modes,
-when doing so take care when switching out of edit-mode not to keep references
-to the edit-bones or their head/tail vectors.
-Further access to these will crash blender so its important the script
+when doing so take care when switching out of Edit-Mode not to keep references
+to the edit bones or their head/tail vectors.
+Further access to these will crash Blender so its important the script
 clearly separates sections of the code which operate in different modes.
 
-This is mainly an issue with editmode since pose data can be manipulated without having to be in pose mode,
-however for operator access you may still need to enter pose mode.
+This is mainly an issue with Edit-Mode since pose data can be manipulated without having to be in Pose-Mode,
+yet for operator access you may still need to enter Pose-Mode.
 
 
 Data Names
@@ -372,8 +362,7 @@ Naming Limitations
 ------------------
 
 A common mistake is to assume newly created data is given the requested name.
-
-This can cause bugs when you add some data (normally imported) then reference it later by name.
+This can cause bugs when you add data (normally imported) then reference it later by name:
 
 .. code-block:: python
 
@@ -383,7 +372,7 @@ This can cause bugs when you add some data (normally imported) then reference it
    bpy.data.meshes[meshid]
 
 
-Or with name assignment...
+Or with name assignment:
 
 .. code-block:: python
 
@@ -397,12 +386,12 @@ Data names may not match the assigned values if they exceed the maximum length,
 
 
 Its better practice not to reference objects by names at all,
-once created you can store the data in a list, dictionary, on a class etc,
+once created you can store the data in a list, dictionary, on a class, etc;
 there is rarely a reason to have to keep searching for the same data by name.
 
 If you do need to use name references, its best to use a dictionary to maintain
 a mapping between the names of the imported assets and the newly created data,
-this way you don't run this risk of referencing existing data from the blend file, or worse modifying it.
+this way you don't run this risk of referencing existing data from the blend-file, or worse modifying it.
 
 .. code-block:: python
 
@@ -421,17 +410,14 @@ this way you don't run this risk of referencing existing data from the blend fil
 Library Collisions
 ------------------
 
-Blender keeps data names unique - :class:`bpy.types.ID.name` so you can't name two objects,
-meshes, scenes etc the same thing by accident.
-
-However when linking in library data from another blend file naming collisions can occur,
+Blender keeps data names unique (:class:`bpy.types.ID.name`) so you can't name two objects,
+meshes, scenes, etc., the same by accident.
+However, when linking in library data from another blend-file naming collisions can occur,
 so its best to avoid referencing data by name at all.
 
-This can be tricky at times and not even blender handles this correctly in some case
-(when selecting the modifier object for eg you can't select between multiple objects with the same name),
-but its still good to try avoid problems in this area.
-
-
+This can be tricky at times and not even Blender handles this correctly in some case
+(when selecting the modifier object for e.g. you can't select between multiple objects with the same name),
+but its still good to try avoiding these problems in this area.
 If you need to select between local and library data, there is a feature in ``bpy.data`` members to allow for this.
 
 .. code-block:: python
@@ -454,18 +440,17 @@ If you need to select between local and library data, there is a feature in ``bp
 Relative File Paths
 ===================
 
-Blenders relative file paths are not compatible with standard Python modules such as ``sys`` and ``os``.
+Blender's relative file paths are not compatible with standard Python modules such as ``sys`` and ``os``.
+Built-in Python functions don't understand Blender's ``//`` prefix which denotes the blend-file path.
 
-Built in Python functions don't understand blenders ``//`` prefix which denotes the blend file path.
-
-A common case where you would run into this problem is when exporting a material with associated image paths.
+A common case where you would run into this problem is when exporting a material with associated image paths:
 
    >>> bpy.path.abspath(image.filepath)
 
 
-When using blender data from linked libraries there is an unfortunate complication
-since the path will be relative to the library rather than the open blend file.
-When the data block may be from an external blend file pass the library argument from the :class:`bpy.types.ID`.
+When using Blender data from linked libraries there is an unfortunate complication
+since the path will be relative to the library rather than the open blend-file.
+When the data block may be from an external blend-file pass the library argument from the :class:`bpy.types.ID`.
 
    >>> bpy.path.abspath(image.filepath, library=image.library)
 
@@ -478,19 +463,15 @@ Unicode Problems
 
 Python supports many different encodings so there is nothing stopping you from
 writing a script in ``latin1`` or ``iso-8859-15``.
+See `PEP 263 <https://www.python.org/dev/peps/pep-0263/>`__.
 
-See `pep-0263 <https://www.python.org/dev/peps/pep-0263/>`_
-
-However this complicates matters for Blender's Python API because ``.blend`` files don't have an explicit encoding.
-
-To avoid the problem for Python integration and script authors we have decided all strings in blend files
+However, this complicates matters for Blender's Python API because ``.blend`` files don't have an explicit encoding.
+To avoid the problem for Python integration and script authors we have decided all strings in blend-files
 **must** be ``UTF-8``, ``ASCII`` compatible.
-
 This means assigning strings with different encodings to an object names for instance will raise an error.
 
-Paths are an exception to this rule since we cannot ignore the existence of non ``UTF-8`` paths on users file-system.
-
-This means seemingly harmless expressions can raise errors, eg.
+Paths are an exception to this rule since the existence of non-UTF-8 paths on user's file system cannot be ignored.
+This means seemingly harmless expressions can raise errors, e.g:
 
    >>> print(bpy.data.filepath)
    UnicodeEncodeError: 'ascii' codec can't encode characters in position 10-21: ordinal not in range(128)
@@ -501,7 +482,7 @@ This means seemingly harmless expressions can raise errors, eg.
    TypeError: bpy_struct: item.attr= val: Object.name expected a string type, not str
 
 
-Here are 2 ways around filesystem encoding issues:
+Here are two ways around file-system encoding issues:
 
    >>> print(repr(bpy.data.filepath))
 
@@ -512,11 +493,11 @@ Here are 2 ways around filesystem encoding issues:
 
 
 Unicode encoding/decoding is a big topic with comprehensive Python documentation,
-to avoid getting stuck too deep in encoding problems - here are some suggestions:
+to keep it short about encoding problems -- here are some suggestions:
 
-- Always use utf-8 encoding or convert to utf-8 where the input is unknown.
-- Avoid manipulating filepaths as strings directly, use ``os.path`` functions instead.
-- Use ``os.fsencode()`` / ``os.fsdecode()`` instead of built in string decoding functions when operating on paths.
+- Always use UTF-8 encoding or convert to UTF-8 where the input is unknown.
+- Avoid manipulating file paths as strings directly, use ``os.path`` functions instead.
+- Use ``os.fsencode()`` or ``os.fsdecode()`` instead of built-in string decoding functions when operating on paths.
 - To print paths or to include them in the user interface use ``repr(path)`` first
   or ``"%r" % path`` with string formatting.
 
@@ -528,11 +509,11 @@ to avoid getting stuck too deep in encoding problems - here are some suggestions
    some importers do this.
 
 
-Strange errors using 'threading' module
-=======================================
+Strange Errors when Using the 'Threading' Module
+================================================
 
-Python threading with Blender only works properly when the threads finish up before the script does.
-By using ``threading.join()`` for example.
+Python threading with Blender only works properly when the threads finish up before the script does,
+for example by using ``threading.join()``.
 
 Here is an example of threading supported by Blender:
 
@@ -571,8 +552,8 @@ Here is an example of threading supported by Blender:
        t.join()
 
 
-This an example of a timer which runs many times a second and moves
-the default cube continuously while Blender runs **(Unsupported)**.
+This an example of a timer which runs many times a second
+and moves the default cube continuously while Blender runs **(Unsupported)**.
 
 .. code-block:: python
 
@@ -592,33 +573,33 @@ the default cube continuously while Blender runs **(Unsupported)**.
 Use cases like the one above which leave the thread running once the script finishes
 may seem to work for a while but end up causing random crashes or errors in Blender's own drawing code.
 
-So far, no work has gone into making Blender's Python integration thread safe,
-so until its properly supported, best not make use of this.
+So far, no work has been done to make Blender's Python integration thread safe,
+so until it's properly supported, it's best not make use of this.
 
 .. note::
 
-   Pythons threads only allow co-currency and won't speed up your scripts on multi-processor systems,
-   the ``subprocess`` and ``multiprocess`` modules can be used with Blender and make use of multiple CPU's too.
+   Python threads only allow concurrency and won't speed up your scripts on multiprocessor systems,
+   the ``subprocess`` and ``multiprocess`` modules can be used with Blender to make use of multiple CPUs too.
 
 
 Help! My script crashes Blender
 ===============================
 
-**TL;DR:** Do not keep direct references to Blender data (of any kind) when modifying the container
-of that data, and/or when some undo/redo may happen (e.g. during modal operators execution...).
+:abbr:`TL;DR (Too long; didn't read.)` Do not keep direct references to Blender data (of any kind)
+when modifying the container of that data, and/or when some undo/redo may happen
+(e.g. during modal operators execution...).
 Instead, use indices (or other data always stored by value in Python, like string keys...),
 that allow you to get access to the desired data.
 
-Ideally it would be impossible to crash Blender from Python
-however there are some problems with the API where it can be made to crash.
-
+Ideally it would be impossible to crash Blender from Python,
+however, there are some problems with the API where it can be made to crash.
 Strictly speaking this is a bug in the API but fixing it would mean adding memory verification
-on every access since most crashes are caused by the Python objects referencing Blenders memory directly,
+on every access since most crashes are caused by the Python objects referencing Blender's memory directly,
 whenever the memory is freed or re-allocated, further Python access to it can crash the script.
 But fixing this would make the scripts run very slow,
 or writing a very different kind of API which doesn't reference the memory directly.
 
-Here are some general hints to avoid running into these problems.
+Here are some general hints to avoid running into these problems:
 
 - Be aware of memory limits,
   especially when working with large lists since Blender can crash simply by running out of memory.
@@ -631,16 +612,16 @@ Here are some general hints to avoid running into these problems.
 - Modules or classes that remain active while Blender is used,
   should not hold references to data the user may remove, instead,
   fetch data from the context each time the script is activated.
-- Crashes may not happen every time, they may happen more on some configurations/operating-systems.
-- Be wary of recursive patterns, those are very efficient at hiding the issues described here.
-- See last sub-section about `Unfortunate Corner Cases`_ for some known breaking exceptions.
+- Crashes may not happen every time, they may happen more on some configurations or operating systems.
+- Be careful with recursive patterns, those are very efficient at hiding the issues described here.
+- See last subsection about `Unfortunate Corner Cases`_ for some known breaking exceptions.
 
 .. note::
 
    To find the line of your script that crashes you can use the ``faulthandler`` module.
-   See the `faulthandler docs <https://docs.python.org/dev/library/faulthandler.html>`_.
+   See the `Faulthandler docs <https://docs.python.org/dev/library/faulthandler.html>`__.
 
-   While the crash may be in Blenders C/C++ code,
+   While the crash may be in Blender's C/C++ code,
    this can help a lot to track down the area of the script that causes the crash.
 
 .. note::
@@ -654,7 +635,7 @@ Here are some general hints to avoid running into these problems.
    in any possible way.
 
 
-**Don’t:**
+.. rubric:: Do not:
 
 .. code-block:: python
 
@@ -673,7 +654,7 @@ Here are some general hints to avoid running into these problems.
    first_item.name = "foobar"
 
 
-**Do:**
+.. rubric:: Do:
 
 .. code-block:: python
 
@@ -696,33 +677,31 @@ Here are some general hints to avoid running into these problems.
 Undo/Redo
 ---------
 
-Undo invalidates all :class:`bpy.types.ID` instances (Object, Scene, Mesh, Lamp... etc).
+Undo invalidates all :class:`bpy.types.ID` instances (Object, Scene, Mesh, Light, etc.).
 
-This example shows how you can tell undo changes the memory locations.
+This example shows how you can tell undo changes the memory locations:
 
    >>> hash(bpy.context.object)
    -9223372036849950810
    >>> hash(bpy.context.object)
    -9223372036849950810
 
-   # ... move the active object, then undo
+Move the active object, then undo:
 
    >>> hash(bpy.context.object)
    -9223372036849951740
 
 As suggested above, simply not holding references to data when Blender is used
-interactively by the user is the only way to ensure the script doesn't become unstable.
+interactively by the user is the only way to make sure that the script doesn't become unstable.
 
 
 Undo & Library Data
 ^^^^^^^^^^^^^^^^^^^
 
-One of the advantages with Blenders library linking system that undo
+One of the advantages with Blender's library linking system that undo
 can skip checking changes in library data since it is assumed to be static.
-
 Tools in Blender are not allowed to modify library data.
-
-Python however does not enforce this restriction.
+But Python does not enforce this restriction.
 
 This can be useful in some cases, using a script to adjust material values for example.
 But its also possible to use a script to make library data point to newly created local data,
@@ -733,13 +712,13 @@ So it's best to consider modifying library data an advanced usage of the API
 and only to use it when you know what you're doing.
 
 
-Edit Mode / Memory Access
+Edit-Mode / Memory Access
 -------------------------
 
-Switching edit-mode ``bpy.ops.object.mode_set(mode='EDIT')`` / ``bpy.ops.object.mode_set(mode='OBJECT')``
+Switching mode ``bpy.ops.object.mode_set(mode='EDIT')`` or ``bpy.ops.object.mode_set(mode='OBJECT')``
 will re-allocate objects data,
-any references to a meshes vertices/polygons/uvs, armatures bones,
-curves points etc cannot be accessed after switching edit-mode.
+any references to a meshes vertices/polygons/UVs, armatures bones,
+curves points, etc. cannot be accessed after switching mode.
 
 Only the reference to the data its self can be re-accessed, the following example will crash.
 
@@ -754,7 +733,7 @@ Only the reference to the data its self can be re-accessed, the following exampl
    print(polygons)
 
 
-So after switching edit-mode you need to re-access any object data variables,
+So after switching mode you need to re-access any object data variables,
 the following example shows how to avoid the crash above.
 
 .. code-block:: python
@@ -770,7 +749,7 @@ the following example shows how to avoid the crash above.
 
 
 These kinds of problems can happen for any functions which re-allocate
-the object data but are most common when switching edit-mode.
+the object data but are most common when switching mode.
 
 
 Array Re-Allocation
@@ -791,21 +770,20 @@ internally the array which stores this data is re-allocated.
 This can be avoided by re-assigning the point variables after adding the new one or by storing
 indices to the points rather than the points themselves.
 
-The best way is to sidestep the problem altogether add all the points to the curve at once.
-This means you don't have to worry about array re-allocation and its faster too
-since reallocating the entire array for every point added is inefficient.
+The best way is to sidestep the problem altogether by adding all the points to the curve at once.
+This means you don't have to worry about array re-allocation and it's faster too
+since re-allocating the entire array for every added point is inefficient.
 
 
 Removing Data
 -------------
 
 **Any** data that you remove shouldn't be modified or accessed afterwards,
-this includes f-curves, drivers, render layers, timeline markers, modifiers, constraints
-along with objects, scenes, collections, bones.. etc.
+this includes: F-curves, drivers, render layers, timeline markers, modifiers, constraints
+along with objects, scenes, collections, bones, etc.
 
-The ``remove()`` api calls will invalidate the data they free to prevent common mistakes.
-
-The following example shows how this precaution works.
+The ``remove()`` API calls will invalidate the data they free to prevent common mistakes.
+The following example shows how this precaution works:
 
 .. code-block:: python
 
@@ -818,7 +796,7 @@ The following example shows how this precaution works.
 
 
 But take care because this is limited to scripts accessing the variable which is removed,
-the next example will still crash.
+the next example will still crash:
 
 .. code-block:: python
 
@@ -835,8 +813,8 @@ Besides all expected cases listed above, there are a few others that should not
 an issue but, due to internal implementation details, currently are:
 
 - ``Object.hide_viewport``, ``Object.hide_select`` and ``Object.hide_render``:
-  Setting any of those booleans will trigger a rebuild of Collection caches, hence breaking
-  any current iteration over ``Collection.all_objects``.
+  Setting any of those Booleans will trigger a rebuild of Collection caches,
+  thus breaking any current iteration over ``Collection.all_objects``.
 
 
 sys.exit
@@ -848,5 +826,5 @@ as if Blender is crashing since ``sys.exit()`` will close Blender immediately.
 
 For example, the ``argparse`` module will print an error and exit if the arguments are invalid.
 
-An ugly way of troubleshooting this is to set ``sys.exit = None`` and see what line of Python code is quitting,
+An dirty way of troubleshooting this is to set ``sys.exit = None`` and see what line of Python code is quitting,
 you could of course replace ``sys.exit`` with your own function but manipulating Python in this way is bad practice.

doc/python_api/rst/info_overview.rst

@@ -1,4 +1,3 @@
-
 .. _info_overview:
 
 *******************
@@ -6,24 +5,24 @@ Python API Overview
 *******************
 
 The purpose of this document is to explain how Python and Blender fit together,
-covering some of the functionality that may not be obvious from reading the API
-references and example scripts.
+covering some of the functionality that may not be obvious from reading the API references
+and example scripts.
 
 
 Python in Blender
 =================
 
-Blender has an embedded Python interpreter which is loaded when Blender is started and stays
-active while Blender is running. This interpreter runs scripts to draw the user interface
-and is used for some of Blender’s internal tools as well.
+Blender has an embedded Python interpreter which is loaded when Blender is started
+and stays active while Blender is running. This interpreter runs scripts to draw the user interface
+and is used for some of Blender's internal tools as well.
 
 Blender's embedded interpreter provides a typical Python environment, so code from tutorials
-on how to write Python scripts can also be run with Blender’s interpreter. Blender provides its
+on how to write Python scripts can also be run with Blender's interpreter. Blender provides its
 Python modules, such as :mod:`bpy` and :mod:`mathutils`, to the embedded interpreter so they can
-be imported into a script and give access to Blender's data, classes, and functions. Scripts that
-deal with Blender data will need to import the modules to work.
+be imported into a script and give access to Blender's data, classes, and functions.
+Scripts that deal with Blender data will need to import the modules to work.
 
-Here is a simple example which moves a vertex attached to an object named **Cube**:
+Here is a simple example which moves a vertex attached to an object named "Cube":
 
 .. code-block:: python
 
@@ -31,7 +30,7 @@ Here is a simple example which moves a vertex attached to an object named **Cube
    bpy.data.objects["Cube"].data.vertices[0].co.x += 1.0
 
 This modifies Blender's internal data directly.
-When you run this in the interactive console you will see the 3D viewport update.
+When you run this in the interactive console you will see the 3D Viewport update.
 
 
 The Default Environment
@@ -41,7 +40,7 @@ When developing your own scripts it may help to understand how Blender sets up i
 Many Python scripts come bundled with Blender and can be used as a reference
 because they use the same API that script authors write tools in.
 Typical usage for scripts include: user interface, import/export,
-scene manipulation, automation, defining your own toolset and customization.
+scene manipulation, automation, defining your own tool set and customization.
 
 On startup Blender scans the ``scripts/startup/`` directory for Python modules and imports them.
 The exact location of this directory depends on your installation.
@@ -54,8 +53,8 @@ Script Loading
 This may seem obvious, but it is important to note the difference between
 executing a script directly and importing a script as a module.
 
-Extending Blender by executing a script directly means the classes that the script
-defines remain available inside Blender after the script finishes execution.
+Extending Blender by executing a script directly means the classes that the script defines
+remain available inside Blender after the script finishes execution.
 Using scripts this way makes future access to their classes
 (to unregister them for example) more difficult compared to importing the scripts as modules.
 When a script is imported as a module, its class instances will remain
@@ -63,12 +62,11 @@ inside the module and can be accessed later on by importing that module again.
 
 For this reason it is preferable to avoid directly executing scripts that extend Blender by registering classes.
 
+Here are some ways to run scripts directly in Blender:
 
-Here are some ways to run scripts directly in Blender.
-
-- Loaded in the text editor and press **Run Script**.
+- Loaded in the text editor and press *Run Script*.
 - Typed or pasted into the interactive console.
-- Execute a Python file from the command line with Blender, eg:
+- Execute a Python file from the command line with Blender, e.g:
 
   .. code-block:: sh
 
@@ -77,24 +75,22 @@ Here are some ways to run scripts directly in Blender.
 
 To run as modules:
 
-- The obvious way, ``import some_module`` command from the text window or interactive console.
-- Open as a text block and tick "Register" option, this will load with the blend file.
-- copy into one of the directories ``scripts/startup``, where they will be automatically imported on startup.
-- define as an add-on, enabling the add-on will load it as a Python module.
+- The obvious way, ``import some_module`` command from the text editor or interactive console.
+- Open as a text data-block and check the *Register* option, this will load with the blend-file.
+- Copy into one of the directories ``scripts/startup``, where they will be automatically imported on startup.
+- Define as an add-on, enabling the add-on will load it as a Python module.
 
 
 Add-ons
 -------
 
-Some of Blenders functionality is best kept optional,
-alongside scripts loaded at startup we have add-ons which are kept in their own directory ``scripts/addons``,
-and only load on startup if selected from the user preferences.
-
-The only difference between add-ons and built-in Python modules is that add-ons must contain a ``bl_info``
-variable which Blender uses to read metadata such as name, author, category and URL.
-
-The User Preferences add-on listing uses **bl_info** to display information about each add-on.
+Some of Blender's functionality is best kept optional,
+alongside scripts loaded at startup there are add-ons which are kept in their own directory ``scripts/addons``,
+They are only loaded on startup if selected from the user preferences.
 
+The only difference between add-ons and built-in Python modules is that add-ons must contain a ``bl_info`` variable
+which Blender uses to read metadata such as name, author, category and project link.
+The User Preferences add-on listing uses ``bl_info`` to display information about each add-on.
 `See Add-ons <https://wiki.blender.org/index.php/Dev:Py/Scripts/Guidelines/Addons>`__
 for details on the ``bl_info`` dictionary.
 
@@ -105,7 +101,7 @@ Integration through Classes
 Running Python scripts in the text editor is useful for testing but you'll
 want to extend Blender to make tools accessible like other built-in functionality.
 
-The Blender Python api allows integration for:
+The Blender Python API allows integration for:
 
 - :class:`bpy.types.Panel`
 - :class:`bpy.types.Menu`
@@ -114,13 +110,12 @@ The Blender Python api allows integration for:
 - :class:`bpy.types.KeyingSet`
 - :class:`bpy.types.RenderEngine`
 
-
 This is intentionally limited. Currently, for more advanced features such as mesh modifiers,
 object types, or shader nodes, C/C++ must be used.
 
 For Python integration Blender defines methods which are common to all types.
 This works by creating a Python subclass of a Blender class which contains variables and functions
-specified by the parent class which are pre-defined to interface with Blender.
+specified by the parent class which are predefined to interface with Blender.
 
 For example:
 
@@ -137,22 +132,20 @@ For example:
 
    bpy.utils.register_class(SimpleOperator)
 
-First note that we subclass a member of :mod:`bpy.types`,
+First note that it defines a subclass as a member of :mod:`bpy.types`,
 this is common for all classes which can be integrated with Blender and
-used so we know if this is an Operator and not a Panel when registering.
+is used to distinguish an Operator from a Panel when registering.
 
 Both class properties start with a ``bl_`` prefix.
 This is a convention used to distinguish Blender properties from those you add yourself.
-
 Next see the execute function, which takes an instance of the operator and the current context.
 A common prefix is not used for functions.
-
 Lastly the register function is called, this takes the class and loads it into Blender. See `Class Registration`_.
 
 Regarding inheritance, Blender doesn't impose restrictions on the kinds of class inheritance used,
 the registration checks will use attributes and functions defined in parent classes.
 
-class mix-in example:
+Class mix-in example:
 
 .. code-block:: python
 
@@ -173,8 +166,8 @@ While ``__init__()`` and ``__del__()`` will be called if defined,
 the class instances lifetime only spans the execution.
 So a panel for example will have a new instance for every redraw,
 for this reason there is rarely a cause to store variables in the panel instance.
-Instead, persistent variables should be stored in Blenders
-ata so that the state can be restored when Blender is restarted.
+Instead, persistent variables should be stored in Blender's data
+so that the state can be restored when Blender is restarted.
 
 .. note::
 
@@ -182,15 +175,14 @@ ata so that the state can be restored when Blender is restarted.
 
 So once the class is registered with Blender, instancing the class and calling the functions is left up to Blender.
 In fact you cannot instance these classes from the script as you would expect with most Python API's.
-
-To run operators you can call them through the operator api, eg:
+To run operators you can call them through the operator API, e.g:
 
 .. code-block:: python
 
    import bpy
    bpy.ops.object.simple_operator()
 
-User interface classes are given a context in which to draw, buttons window, file header, toolbar etc,
+User interface classes are given a context in which to draw, buttons, window, file header, toolbar, etc.,
 then they are drawn when that area is displayed so they are never called by Python scripts directly.
 
 
@@ -205,7 +197,7 @@ Module Registration
 Blender modules loaded at startup require ``register()`` and ``unregister()`` functions.
 These are the *only* functions that Blender calls from your code, which is otherwise a regular Python module.
 
-A simple Blender/Python module can look like this:
+A simple Blender Python module can look like this:
 
 .. code-block:: python
 
@@ -225,16 +217,15 @@ A simple Blender/Python module can look like this:
 
 These functions usually appear at the bottom of the script containing class registration sometimes adding menu items.
 You can also use them for internal purposes setting up data for your own tools but take care
-since register won't re-run when a new blend file is loaded.
+since register won't re-run when a new blend-file is loaded.
 
 The register/unregister calls are used so it's possible to toggle add-ons and reload scripts while Blender runs.
 If the register calls were placed in the body of the script, registration would be called on import,
 meaning there would be no distinction between importing a module or loading its classes into Blender.
-
 This becomes problematic when a script imports classes from another module
 making it difficult to manage which classes are being loaded and when.
 
-The last 2 lines are only for testing:
+The last two lines are only for testing:
 
 .. code-block:: python
 
@@ -251,7 +242,6 @@ Class Registration
 
 Registering a class with Blender results in the class definition being loaded into Blender,
 where it becomes available alongside existing functionality.
-
 Once this class is loaded you can access it from :mod:`bpy.types`,
 using the ``bl_idname`` rather than the classes original name.
 
@@ -271,23 +261,23 @@ Using the function arguments ``def execute(self, context, spam)``, will raise an
 
 ``ValueError: expected Operator, SimpleOperator class "execute" function to have 2 args, found 3``
 
-Using ``bl_idname = 1`` will raise.
+Using ``bl_idname = 1`` will raise:
 
 ``TypeError: validating class error: Operator.bl_idname expected a string type, not int``
 
 
-Inter Classes Dependencies
-^^^^^^^^^^^^^^^^^^^^^^^^^^
+Inter-Class Dependencies
+^^^^^^^^^^^^^^^^^^^^^^^^
 
 When customizing Blender you may want to group your own settings together,
 after all, they will likely have to co-exist with other scripts.
 To group these properties classes need to be defined,
 for groups within groups or collections within groups
-you can find yourself having to deal with order of registration/unregistration.
+you can't avoid having to deal with the order of registration/unregistration.
 
 Custom properties groups are themselves classes which need to be registered.
 
-Say you want to store material settings for a custom engine.
+For example, if you want to store material settings for a custom engine:
 
 .. code-block:: python
 
@@ -311,7 +301,7 @@ Say you want to store material settings for a custom engine.
 
 .. note::
 
-   *The class must be registered before being used in a property, failing to do so will raise an error:*
+   The class **must be** registered before being used in a property, failing to do so will raise an error:
 
    ``ValueError: bpy_struct "Material" registration error: my_custom_props could not register``
 
@@ -341,17 +331,17 @@ Say you want to store material settings for a custom engine.
    if __name__ == "__main__":
        register()
 
-.. note::
+.. important::
 
-   *The lower most class needs to be registered first and that unregister() is a mirror of register()*
+   The lower most class needs to be registered first and that ``unregister()`` is a mirror of ``register()``.
 
 
 Manipulating Classes
 ^^^^^^^^^^^^^^^^^^^^
 
 Properties can be added and removed as Blender runs,
-normally happens on register or unregister but for some
-special cases it may be useful to modify types as the script runs.
+normally done on register or unregister but for some special cases
+it may be useful to modify types as the script runs.
 
 For example:
 
@@ -362,7 +352,7 @@ For example:
    # remove
    del bpy.types.Object.my_float
 
-This works just as well for PropertyGroup subclasses you define yourself.
+This works just as well for ``PropertyGroup`` subclasses you define yourself.
 
 .. code-block:: python
 
@@ -370,7 +360,7 @@ This works just as well for PropertyGroup subclasses you define yourself.
        pass
    MyPropGroup.my_float: bpy.props.FloatProperty()
 
-...this is equivalent to:
+This is equivalent to:
 
 .. code-block:: python
 
@@ -378,11 +368,11 @@ This works just as well for PropertyGroup subclasses you define yourself.
        my_float: bpy.props.FloatProperty()
 
 
-Dynamic Defined-Classes (Advanced)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Dynamic Class Definition (Advanced)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-In some cases the specifier for data may not be in Blender, renderman shader definitions
-for example, and it may be useful to define them as types and remove them on the fly.
+In some cases the specifier for data may not be in Blender, for example a external render engines shader definitions,
+and it may be useful to define them as types and remove them on the fly.
 
 .. code-block:: python
 

doc/python_api/rst/info_quickstart.rst

@@ -1,19 +1,16 @@
-
 .. _info_quickstart:
 
-***********************
-Quickstart Introduction
-***********************
+**********
+Quickstart
+**********
 
-Preface
-=======
+This :abbr:`API (Application Programming Interface)` is generally stable
+but some areas are still being extended and improved.
 
-This API is generally stable but some areas are still being added and improved.
-
-The Blender/Python API can do the following:
+.. rubric:: Blender Python API features:
 
 - Edit any data the user interface can (Scenes, Meshes, Particles etc.).
-- Modify user preferences, key-maps and themes.
+- Modify user preferences, keymaps and themes.
 - Run tools with own settings.
 - Create user interface elements such as menus, headers and panels.
 - Create new tools.
@@ -21,10 +18,10 @@ The Blender/Python API can do the following:
 - Create new rendering engines that integrate with Blender.
 - Subscribe to changes to data and it's properties.
 - Define new settings in existing Blender data.
-- Draw in the 3D view using Python.
+- Draw in the 3D Viewport using Python.
 
 
-The Blender/Python API **can't** (yet)...
+.. rubric:: (Still) missing features:
 
 - Create new space types.
 - Assign custom properties to every type.
@@ -33,22 +30,21 @@ The Blender/Python API **can't** (yet)...
 Before Starting
 ===============
 
-This document isn't intended to fully cover each topic.
-Rather, its purpose is to familiarize you with Blender Python API.
-
+This document its intended to familiarize you with Blender Python API
+but not to fully cover each topic.
 
 A quick list of helpful things to know before starting:
 
-- Blender uses Python 3.x; some online documentation still assumes 2.x.
+- Blender uses Python 3.x; some online documentation still assumes version 2.x.
 - The interactive console is great for testing one-liners.
   It also has autocompletion so you can inspect the API quickly.
-- Button tool tips show Python attributes and operator names.
-- Right clicking on buttons and menu items directly links to API documentation.
-- For more examples, the text menu has a templates section where some example operators can be found.
+- Button tooltips show Python attributes and operator names.
+- The context menu of buttons directly links to this API documentation.
+- More operator examples can be found in the text editor's template menu.
 - To examine further scripts distributed with Blender, see:
 
-  | ``scripts/startup/bl_ui`` for the user interface,
-  | ``scripts/startup/bl_operators`` for operators.
+  - ``scripts/startup/bl_ui`` for the user interface.
+  - ``scripts/startup/bl_operators`` for operators.
 
   Exact location depends on platform, see:
   :ref:`directory layout docs <blender_manual:blender-directory-layout>`.
@@ -59,19 +55,14 @@ Running Scripts
 
 The two most common ways to execute Python scripts are using the built-in
 text editor or entering commands in the Python console.
-
-Both the *Text Editor* and *Python Console* are space types you can select from the view header.
-
+Both the *Text Editor* and *Python Console* are space types you can select from the header.
 Rather than manually configuring your spaces for Python development,
-you may prefer to use the *Scripting* screen, included default with Blender,
-accessible from the top headers screen selector.
+you can use the *Scripting* workspace accessible from the Topbar tabs.
 
 From the text editor you can open ``.py`` files or paste then from the clipboard, then test using *Run Script*.
-
 The Python Console is typically used for typing in snippets and for testing to get immediate feedback,
 but can also have entire scripts pasted into it.
-
-Scripts can also run from the command line with Blender but to learn Blender/Python this isn't essential.
+Scripts can also run from the command line with Blender but to learn scripting in Blender this isn't essential.
 
 
 Key Concepts
@@ -80,14 +71,13 @@ Key Concepts
 Data Access
 -----------
 
-Accessing DataBlocks
-^^^^^^^^^^^^^^^^^^^^
+Accessing Data-Blocks
+^^^^^^^^^^^^^^^^^^^^^
 
-Python accesses Blender's data in the same way as the animation system and user interface;
-this implies that any setting that can be changed via a button can also be changed from Python.
-
-Accessing data from the currently loaded blend file is done with the module :mod:`bpy.data`.
-This gives access to library data. For example:
+You can access Blender's data with the Python API in the same way as the animation system or user interface;
+this implies that any setting that can be changed via a button can also be changed with Python.
+Accessing data from the currently loaded blend-file is done with the module :mod:`bpy.data`.
+It gives access to library data, for example:
 
    >>> bpy.data.objects
    <bpy_collection[3], BlendDataObjects>
@@ -99,12 +89,11 @@ This gives access to library data. For example:
    <bpy_collection[1], BlendDataMaterials>
 
 
-About Collections
-^^^^^^^^^^^^^^^^^
+Accessing Collections
+^^^^^^^^^^^^^^^^^^^^^
 
-You'll notice that an index as well as a string can be used to access members of the collection.
-
-Unlike Python's dictionaries, both methods are acceptable;
+You will notice that an index as well as a string can be used to access members of the collection.
+Unlike Python dictionaries, both methods are available;
 however, the index of a member may change while running Blender.
 
    >>> list(bpy.data.objects)
@@ -120,7 +109,7 @@ however, the index of a member may change while running Blender.
 Accessing Attributes
 ^^^^^^^^^^^^^^^^^^^^
 
-Once you have a data block, such as a material, object, collections etc.,
+Once you have a data-block, such as a material, object, collection, etc.,
 its attributes can be accessed much like you would change a setting using the graphical interface.
 In fact, the tooltip for each button also displays the Python attribute
 which can help in finding what settings to change in a script.
@@ -135,8 +124,8 @@ which can help in finding what settings to change in a script.
    bpy.data.materials['MyMaterial']
 
 
-For testing what data to access it's useful to use the "Console", which is its own space type.
-This supports auto-complete, giving you a fast way to dig into different data in your file.
+For testing what data to access it's useful to use the Python Console, which is its own space type.
+This supports auto-complete, giving you a fast way to explore the data in your file.
 
 Example of a data path that can be quickly found via the console:
 
@@ -149,8 +138,8 @@ Example of a data path that can be quickly found via the console:
 Data Creation/Removal
 ^^^^^^^^^^^^^^^^^^^^^
 
-Those of you familiar with other Python API's may be surprised that
-new data-blocks in the bpy API can't be created by calling the class:
+When you are familiar with other Python APIs you may be surprised that
+new data-blocks in the bpy API cannot be created by calling the class:
 
    >>> bpy.types.Mesh()
    Traceback (most recent call last):
@@ -159,10 +148,10 @@ new data-blocks in the bpy API can't be created by calling the class:
 
 
 This is an intentional part of the API design.
-The Blender/Python API can't create Blender data that exists outside the main Blender database
-(accessed through :mod:`bpy.data`), because this data is managed by Blender (save/load/undo/append... etc).
+The Blender Python API can't create Blender data that exists outside the main Blender database
+(accessed through :mod:`bpy.data`), because this data is managed by Blender (save, load, undo, append, etc).
 
-Data is added and removed via methods on the collections in :mod:`bpy.data`, eg:
+Data is added and removed via methods on the collections in :mod:`bpy.data`, e.g:
 
    >>> mesh = bpy.data.meshes.new(name="MyMesh")
    >>> print(mesh)
@@ -174,14 +163,12 @@ Data is added and removed via methods on the collections in :mod:`bpy.data`, eg:
 Custom Properties
 ^^^^^^^^^^^^^^^^^
 
-Python can access properties on any datablock that has an ID
-(data that can be linked in and accessed from :mod:`bpy.data`.
-When assigning a property, you can make up your own names,
-these will be created when needed or overwritten if they exist.
+Python can access properties on any data-block that has an ID
+(data that can be linked in and accessed from :mod:`bpy.data`).
+When assigning a property, you can pick your own names,
+these will be created when needed or overwritten if they already exist.
 
-This data is saved with the blend file and copied with objects.
-
-Example:
+This data is saved with the blend-file and copied with objects, for example:
 
 .. code-block:: python
 
@@ -201,10 +188,10 @@ Example:
    del collection["MySettings"]
 
 
-Note that these properties can only be assigned  basic Python types.
+Note that these properties can only be assigned basic Python types:
 
 - int, float, string
-- array of ints/floats
+- array of ints or floats
 - dictionary (only string keys are supported, values must be basic types too)
 
 These properties are valid outside of Python. They can be animated by curves or used in driver paths.
@@ -218,18 +205,16 @@ it's more common to operate on the user's selection.
 The context is always available from ``bpy.context`` and can be used to get the active object, scene,
 tool settings along with many other attributes.
 
-Common-use cases:
+Some common use cases are:
 
    >>> bpy.context.object
    >>> bpy.context.selected_objects
    >>> bpy.context.visible_bones
 
-Note that the context is read-only.
-These values cannot be modified directly,
-though they may be changed by running API functions or by using the data API.
+Note that the context is read-only, which means that these values cannot be modified directly.
+But they can be changed by running API functions or by using the data API.
 
 So ``bpy.context.active_object = obj`` will raise an error.
-
 But ``bpy.context.view_layer.objects.active = obj`` works as expected.
 
 The context attributes change depending on where they are accessed.
@@ -257,7 +242,7 @@ Examples:
 
 .. tip::
 
-   The :ref:`Operator Cheat Sheet <blender_manual:bpy.ops.wm.operator_cheat_sheet>`.
+   The :ref:`Operator Cheat Sheet <blender_manual:bpy.ops.wm.operator_cheat_sheet>`
    gives a list of all operators and their default values in Python syntax, along with the generated docs.
    This is a good way to get an overview of all Blender's operators.
 
@@ -265,8 +250,8 @@ Examples:
 Operator Poll()
 ^^^^^^^^^^^^^^^
 
-Many operators have a "poll" function which may check that the cursor
-is in a valid area or that the object is in the correct mode (Edit Mode, Weight Paint etc).
+Many operators have a "poll" function which checks if the cursor
+is in a valid area or if the object is in the correct mode (Edit Mode, Weight Paint Mode, etc).
 When an operator's poll function fails within Python, an exception is raised.
 
 For example, calling ``bpy.ops.view3d.render_border()`` from the console raises the following error:
@@ -275,10 +260,10 @@ For example, calling ``bpy.ops.view3d.render_border()`` from the console raises
 
    RuntimeError: Operator bpy.ops.view3d.render_border.poll() failed, context is incorrect
 
-In this case the context must be the 3d view with an active camera.
+In this case the context must be the 3D Viewport with an active camera.
 
-To avoid using try/except clauses wherever operators are called you can call the operators
-own ``poll()`` function to check if it can run in the current context.
+To avoid using try-except clauses wherever operators are called, you can call the operators
+own ``poll()`` function to check if it can run the operator in the current context.
 
 .. code-block:: python
 
@@ -291,11 +276,10 @@ Integration
 
 Python scripts can integrate with Blender in the following ways:
 
-- By defining a rendering engine.
+- By defining a render engine.
 - By defining operators.
 - By defining menus, headers and panels.
-- By inserting new buttons into existing menus, headers and panels
-
+- By inserting new buttons into existing menus, headers and panels.
 
 In Python, this is done by defining a class, which is a subclass of an existing type.
 
@@ -306,56 +290,52 @@ Example Operator
 .. literalinclude:: __/__/__/release/scripts/templates_py/operator_simple.py
 
 Once this script runs, ``SimpleOperator`` is registered with Blender
-and can be called from the operator search popup or added to the toolbar.
+and can be called from Operator Search or added to the toolbar.
 
 To run the script:
 
-#. Highlight the above code then press :kbd:`Ctrl-C` to copy it.
-#. Start Blender
-#. Press :kbd:`Ctrl-Right` twice to change to the Scripting layout.
-#. Click the button labeled ``New`` and the confirmation pop up in order to create a new text block.
-#. Press :kbd:`Ctrl-V` to paste the code into the text panel (the upper left frame).
-#. Click on the button **Run Script**.
+#. Start Blender and switch to the Scripting workspace.
+#. Click the *New* button in the text editor to create a new text data-block.
+#. Copy the code from above and paste it into the text editor.
+#. Click on the *Run Script* button.
 #. Move your cursor into the 3D Viewport,
-   open the :ref:`operator search menu <blender_manual:bpy.ops.wm.search_menu>`,
+   open the :ref:`Operator Search menu <blender_manual:bpy.ops.wm.search_menu>`,
    and type "Simple".
 #. Click on the "Simple Operator" item found in search.
 
+.. seealso::
 
-.. seealso:: The class members with the ``bl_`` prefix are documented in the API
-   reference :class:`bpy.types.Operator`
+   The class members with the ``bl_`` prefix are documented in the API reference :class:`bpy.types.Operator`.
 
 .. note::
 
    The output from the ``main`` function is sent to the terminal;
    in order to see this, be sure to :ref:`use the terminal <use_the_terminal>`.
 
+
 Example Panel
 -------------
 
-Panels register themselves as a class, like an operator.
+Panels are registered as a class, like an operator.
 Notice the extra ``bl_`` variables used to set the context they display in.
 
 .. literalinclude:: __/__/__/release/scripts/templates_py/ui_panel_simple.py
 
 To run the script:
 
-#. Highlight the above code then press :kbd:`Ctrl-C` to copy it.
-#. Start Blender.
-#. Click on the tab for the *Scripting* workspace.
-#. Click the button labeled ``New`` to create a new text block.
-#. Press :kbd:`Ctrl-V` to paste the code into the text panel (the upper left frame).
-#. Click on the button **Run Script**.
-
+#. Start Blender and switch to the Scripting workspace.
+#. Click the *New* button in the text editor to create a new text data-block.
+#. Copy the code from above and paste it into the text editor.
+#. Click on the *Run Script* button.
 
 To view the results:
 
-#. Select the the default cube.
+#. Select the default cube.
 #. Click on the Object properties icon in the buttons panel (far right; appears as a tiny cube).
-#. Scroll down to see a panel named **Hello World Panel**.
-#. Changing the object name also updates **Hello World Panel's** Name: field.
+#. Scroll down to see a panel named "Hello World Panel".
+#. Changing the object name also updates *Hello World Panel's* name: field.
 
-Note the row distribution and the label and properties that are available through the code.
+Note the row distribution and the label and properties that are defined through the code.
 
 .. seealso:: :class:`bpy.types.Panel`
 
@@ -364,8 +344,7 @@ Types
 =====
 
 Blender defines a number of Python types but also uses Python native types.
-
-Blender's Python API can be split up into 3 categories.
+Blender's Python API can be split up into three categories.
 
 
 Native Types
@@ -374,7 +353,7 @@ Native Types
 In simple cases returning a number or a string as a custom type would be cumbersome,
 so these are accessed as normal Python types.
 
-- Blender float/int/boolean -> float/int/boolean
+- Blender float, int, boolean -> float, int, boolean
 - Blender enumerator -> string
 
      >>> C.object.rotation_mode = 'AXIS_ANGLE'
@@ -393,11 +372,10 @@ so these are accessed as normal Python types.
 Internal Types
 --------------
 
-Used for Blender data-blocks and collections: :class:`bpy.types.bpy_struct`
+:class:`bpy.types.bpy_struct` is used for Blender data-blocks and collections.
+Also for data that contains its own attributes: collections, meshes, bones, scenes, etc.
 
-For data that contains its own attributes collections/meshes/bones/scenes... etc.
-
-There are 2 main types that wrap Blenders data, one for data-blocks
+There are two main types that wrap Blender's data, one for data-blocks
 (known internally as ``bpy_struct``), another for properties.
 
    >>> bpy.context.object
@@ -406,14 +384,13 @@ There are 2 main types that wrap Blenders data, one for data-blocks
    >>> C.scene.objects
    bpy.data.scenes['Scene'].objects
 
-Note that these types reference Blender's data so modifying them is immediately visible.
+Note that these types reference Blender's data so modifying them is visible immediately.
 
 
 Mathutils Types
 ---------------
 
-Used for vectors, quaternion, eulers, matrix and color types, accessible from :mod:`mathutils`
-
+Accessible from :mod:`mathutils` are vectors, quaternions, Euler angles, matrix and color types.
 Some attributes such as :class:`bpy.types.Object.location`,
 :class:`bpy.types.PoseBone.rotation_euler` and :class:`bpy.types.Scene.cursor_location`
 can be accessed as special math types which can be used together and manipulated in various useful ways.
@@ -422,14 +399,13 @@ Example of a matrix, vector multiplication:
 
 .. code-block:: python
 
-   bpy.context.object.matrix_world * bpy.context.object.data.verts[0].co
+   bpy.context.object.matrix_world @ bpy.context.object.data.verts[0].co
 
 .. note::
 
    mathutils types keep a reference to Blender's internal data so changes can
    be applied back.
 
-
    Example:
 
    .. code-block:: python
@@ -449,13 +425,11 @@ Example of a matrix, vector multiplication:
 Animation
 =========
 
-There are 2 ways to add keyframes through Python.
+There are two ways to add keyframes through Python.
 
-The first is through key properties directly, which is similar to inserting a keyframe from the button as a user.
+The first is through key properties directly, which is like inserting a keyframe from the button as a user.
 You can also manually create the curves and keyframe data, then set the path to the property.
-Here are examples of both methods.
-
-Both examples insert a keyframe on the active object's Z axis.
+Here are examples of both methods. Both insert a keyframe on the active object's Z axis.
 
 Simple example:
 
@@ -467,7 +441,7 @@ Simple example:
    obj.location[2] = 1.0
    obj.keyframe_insert(data_path="location", frame=20.0, index=2)
 
-Using Low-Level Functions:
+Using low-level functions:
 
 .. code-block:: python
 

doc/python_api/rst/info_tips_and_tricks.rst

@@ -4,23 +4,22 @@ Tips and Tricks
 ***************
 
 Here are various suggestions that you might find useful when writing scripts.
-
-Some of these are just Python features that scripters may not have thought to use with Blender,
-others are Blender specific.
+Some of these are just Python features that you may not have thought to use with Blender,
+others are Blender-specific.
 
 
 .. _use_the_terminal:
 
-Use The Terminal
+Use the Terminal
 ================
 
 When writing Python scripts, it's useful to have a terminal open,
 this is not the built-in Python console but a terminal application which is used to start Blender.
 
-There are 3 main uses for the terminal, these are:
+The three main use cases for the terminal are:
 
 - You can see the output of ``print()`` as your script runs, which is useful to view debug info.
-- The error trace-back is printed in full to the terminal which won't always generate an error popup in
+- The error traceback is printed in full to the terminal which won't always generate an report message in
   Blender's user interface (depending on how the script is executed).
 - If the script runs for too long or you accidentally enter an infinite loop,
   :kbd:`Ctrl-C` in the terminal (:kbd:`Ctrl-Break` on Windows) will quit the script early.
@@ -28,26 +27,25 @@ There are 3 main uses for the terminal, these are:
 .. note::
 
    For Linux and macOS users this means starting the terminal first, then running Blender from within it.
-   On Windows the terminal can be enabled from the help menu.
+   On Windows the terminal can be enabled from the Help menu.
 
 
 Interface Tricks
 ================
 
-
 Access Operator Commands
 ------------------------
 
-You may have noticed that the tooltip for menu items and buttons includes the ``bpy.ops.[...])`` command
+You may have noticed that the tooltip for menu items and buttons includes the ``bpy.ops.[...]`` command
 to run that button, a handy (hidden) feature is that you can press :kbd:`Ctrl-C` over
-any menu item/button to copy this command into the clipboard.
+any menu item or button to copy this command into the clipboard.
 
 
 Access Data Path
 ----------------
 
-To find the path from an :class:`ID` datablock to its setting isn't always so simple since it may be nested away.
-To get this quickly you can right click on the setting and select select **Copy Data Path**,
+To find the path from an :class:`ID` data-block to its setting isn't always so simple since it may be nested away.
+To get this quickly open the context menu of the setting and select *Copy Data Path*,
 if this can't be generated, only the property name is copied.
 
 .. note::
@@ -62,11 +60,10 @@ if this can't be generated, only the property name is copied.
 Show All Operators
 ==================
 
-While Blender logs operators in the Info space,
-this only reports operators with the ``REGISTER`` option enabeld so as not to flood the *Info* view
+While Blender logs operators in the Info editor,
+this only reports operators with the ``REGISTER`` option enabled so as not to flood the *Info* view
 with calls to ``bpy.ops.view3d.smoothview`` and ``bpy.ops.view3d.zoom``.
-
-However, for testing it can be useful to see **every** operator called in a terminal,
+Yet for testing it can be useful to see **every** operator called in a terminal,
 do this by enabling the debug option either by passing the ``--debug-wm`` argument when starting Blender
 or by setting :mod:`bpy.app.debug_wm` to ``True`` while Blender is running.
 
@@ -74,20 +71,18 @@ or by setting :mod:`bpy.app.debug_wm` to ``True`` while Blender is running.
 Use an External Editor
 ======================
 
-Blenders text editor is fine for small changes and writing tests but its not full featured,
+Blender's text editor is fine for small changes and writing tests but its not full featured,
 for larger projects you'll probably want to use a standalone editor or Python IDE.
-
-Editing a text file externally and having the same text open in Blender does work but isn't that optimal
-so here are 2 ways you can easily use an external file from Blender.
-
-Using the following examples you'll still need textblock in Blender to execute,
+Editing a text file externally and having the same text open in Blender does work
+but isn't that optimal so here are two ways you can use an external file from Blender.
+Using the following examples you'll still need text data-block in Blender to execute,
 but reference an external file rather than including it directly.
 
 
 Executing External Scripts
 --------------------------
 
-This is the equivalent to running the script directly, referencing a scripts path from a 2 line text-block.
+This is the equivalent to running the script directly, referencing a scripts path from a two line code block.
 
 .. code-block:: python
 
@@ -95,7 +90,7 @@ This is the equivalent to running the script directly, referencing a scripts pat
    exec(compile(open(filename).read(), filename, 'exec'))
 
 
-You might want to reference a script relative to the blend file.
+You might want to reference a script relative to the blend-file.
 
 .. code-block:: python
 
@@ -128,9 +123,10 @@ has to call a function in the module, in this case ``main()`` but it can be any
 an advantage with this is you can pass arguments to the function from this
 small script which is often useful for testing different settings quickly.
 
-The other issue with this is the script has to be in Pythons module search path.
-While this is not best practice - for testing you can extend the search path,
-this example adds the current blend files directory to the search path, then loads the script as a module.
+The other issue with this is the script has to be in Python's module search path.
+While this is not best practice -- for testing purposes you can extend the search path,
+this following example adds the current blend-files directory to the search path
+and then loads the script as a module.
 
 .. code-block:: python
 
@@ -148,42 +144,40 @@ this example adds the current blend files directory to the search path, then loa
    myscript.main()
 
 
-Don't Use Blender!
-==================
-
-While developing your own scripts Blenders interface can get in the way,
-manually reloading, running the scripts, opening file import etc. adds overhead.
+Use Blender without it's User Interface
+=======================================
 
+While developing your own scripts Blender's interface can get in the way,
+manually reloading, running the scripts, opening file import, etc. adds overhead.
 For scripts that are not interactive it can end up being more efficient not to use
-Blenders interface at all and instead execute the script on the command line.
+Blender's interface at all and instead execute the script on the command line.
 
 .. code-block:: sh
 
    blender --background --python myscript.py
 
 
-You might want to run this with a blend file so the script has some data to operate on.
+You might want to run this with a blend-file so the script has some data to operate on.
 
 .. code-block:: sh
 
    blender myscene.blend --background --python myscript.py
 
-
 .. note::
 
    Depending on your setup you might have to enter the full path to the Blender executable.
 
 
 Once the script is running properly in background mode, you'll want to check the output of the script,
-this depends completely on the task at hand however here are some suggestions.
+this depends completely on the task at hand, however, here are some suggestions:
 
-- render the output to an image, use an image viewer and keep writing over the same image each time.
-- save a new blend file, or export the file using one of Blenders exporters.
-- if the results can be displayed as text - print them or write them to a file.
+- Render the output to an image, use an image viewer and keep writing over the same image each time.
+- Save a new blend-file, or export the file using one of Blender's exporters.
+- If the results can be displayed as text then print them or write them to a file.
 
 
 While this can take a little time to setup, it can be well worth the effort
-to reduce the time it takes to test changes - you can even have
+to reduce the time it takes to test changes. You can even have
 Blender running the script every few seconds with a viewer updating the results,
 so no need to leave your text editor to see changes.
 
@@ -200,7 +194,7 @@ but to quickly setup your own custom pipeline or writing one-off scripts this ca
 
 Examples include:
 
-- Run The Gimp in batch mode to execute custom scripts for advanced image processing.
+- Run Gimp in batch mode to execute custom scripts for advanced image processing.
 - Write out 3D models to use external mesh manipulation tools and read back in the results.
 - Convert files into recognizable formats before reading.
 
@@ -209,15 +203,16 @@ Bundled Python & Extensions
 ===========================
 
 The Blender releases distributed from blender.org include a complete Python installation on all platforms,
-this has the disadvantage that any extensions you have installed in your systems Python won't be found by Blender.
+this has the disadvantage that any extensions you have installed on your system's Python environment
+will not be found by Blender.
 
-There are 2 ways around this:
+There are two ways to work around this:
 
-- Remove Blender Python sub-directory, Blender will then fallback on the systems Python and use that instead.
+- Remove Blender Python subdirectory, Blender will then fallback on the system's Python and use that instead.
 
   Depending on your platform,
-  you may need to explicitly reference the location of your Python installation using the
-  ``PYTHONPATH`` environment variable, eg:
+  you may need to explicitly reference the location of your Python installation using
+  the ``PYTHONPATH`` environment variable, e.g:
 
   .. code-block:: sh
 
@@ -226,21 +221,21 @@ There are 2 ways around this:
   .. warning::
 
      The Python (major, minor) version must match the one that Blender comes with.
-     Therefor can't use Python 3.6 with Blender built to use Python 3.7.
+     Therefor you can't use Python 3.6 with Blender built to use Python 3.7.
 
-- Copy or link the extensions into Blender's Python sub-directory so Blender can access them,
-  you could also copy the entire Python installation into Blenders sub-directory,
+- Copy or link the extensions into Blender's Python subdirectory so Blender can access them,
+  you can also copy the entire Python installation into Blender's subdirectory,
   replacing the one Blender comes with.
   This works as long as the Python versions match and the paths are created in the same relative locations.
   Doing this has the advantage that you can redistribute this bundle to others with Blender
   including any extensions you rely on.
 
 
-Drop Into a Python Interpreter in Your Script
-=============================================
+Insert a Python Interpreter into your Script
+============================================
 
-In the middle of a script you may want to inspect some variables,
-run some function and generally dig about to see what's going on.
+In the middle of a script you may want to inspect variables,
+run functions and inspect the flow.
 
 .. code-block:: python
 
@@ -248,7 +243,7 @@ run some function and generally dig about to see what's going on.
    code.interact(local=locals())
 
 
-If you want to access both global and local variables do this...
+If you want to access both global and local variables run this:
 
 .. code-block:: python
 
@@ -266,7 +261,7 @@ The next example is an equivalent single line version of the script above which
 
 
 ``code.interact`` can be added at any line in the script
-and will pause the script an launch an interactive interpreter in the terminal,
+and will pause the script to launch an interactive interpreter in the terminal,
 when you're done you can quit the interpreter and the script will continue execution.
 
 
@@ -279,13 +274,14 @@ The IPython prompt has auto-complete and some useful features that the standard
    IPython.embed()
 
 
-Admittedly this highlights the lack of any Python debugging support built into Blender, but its still handy to know.
+Admittedly this highlights the lack of any Python debugging support built into Blender,
+but its still a handy thing to know.
+
 
 Advanced
 ========
 
-
-Blender as a module
+Blender as a Module
 -------------------
 
 From a Python perspective it's nicer to have everything as an extension
@@ -293,26 +289,22 @@ which lets the Python script combine many components.
 
 Advantages include:
 
-- you can use external editors/IDE's with Blenders Python API and execute scripts within the IDE
+- You can use external editors or IDEs with Blender's Python API and execute scripts within the IDE
   (step over code, inspect variables as the script runs).
-- editors/IDE's can auto complete Blender modules & variables.
-- existing scripts can import Blender API's without having to run inside Blender.
-
+- Editors or IDEs can auto-complete Blender modules and variables.
+- Existing scripts can import Blender APIs without having to be run inside of Blender.
 
 This is marked advanced because to run Blender as a Python module requires a special build option.
-
 For instructions on building see
-`Building Blender as a Python module <https://wiki.blender.org/wiki/Building_Blender/Other/BlenderAsPyModule>`_
+`Building Blender as a Python module <https://wiki.blender.org/wiki/Building_Blender/Other/BlenderAsPyModule>`__.
 
 
 Python Safety (Build Option)
 ----------------------------
 
-Since it's possible to access data which has been removed (see Gotcha's),
-this can be hard to track down the cause of crashes.
-
+Since it's possible to access data which has been removed (see :doc:`Gotchas <info_gotcha>`),
+can make it hard to track down the cause of crashes.
 To raise Python exceptions on accessing freed data (rather than crashing),
 enable the CMake build option ``WITH_PYTHON_SAFETY``.
-
-This enables data tracking which makes data access about 2x slower
+This enables data tracking which makes data access about two times slower
 which is why the option isn't enabled in release builds.

doc/python_api/sphinx_doc_gen.py

@@ -83,6 +83,8 @@ import inspect
 import shutil
 import logging
 
+from textwrap import indent
+
 from platform import platform
 PLATFORM = platform().split('-')[0].lower()  # 'linux', 'darwin', 'windows'
 
@@ -357,7 +359,7 @@ INFO_DOCS = (
     ("info_tips_and_tricks.rst",
      "Tips and Tricks: Hints to help you while writing scripts for Blender"),
     ("info_gotcha.rst",
-     "Gotcha's: some of the problems you may come up against when writing scripts"),
+     "Gotcha's: some of the problems you may encounter when writing scripts"),
     ("change_log.rst", "List of changes since last Blender release"),
 )
 
@@ -438,25 +440,30 @@ if ARGS.sphinx_build:
 
     if ARGS.log:
         SPHINX_BUILD_LOG = os.path.join(ARGS.output_dir, ".sphinx-build.log")
-        SPHINX_BUILD = ["sphinx-build",
-                        "-w", SPHINX_BUILD_LOG,
-                        SPHINX_IN, SPHINX_OUT]
+        SPHINX_BUILD = [
+            "sphinx-build",
+            "-w", SPHINX_BUILD_LOG,
+            SPHINX_IN, SPHINX_OUT,
+        ]
 
 # pdf build
 if ARGS.sphinx_build_pdf:
     SPHINX_OUT_PDF = os.path.join(ARGS.output_dir, "sphinx-out_pdf")
-    SPHINX_BUILD_PDF = ["sphinx-build",
-                        "-b", "latex",
-                        SPHINX_IN, SPHINX_OUT_PDF]
+    SPHINX_BUILD_PDF = [
+        "sphinx-build",
+        "-b", "latex",
+        SPHINX_IN, SPHINX_OUT_PDF,
+    ]
     SPHINX_MAKE_PDF = ["make", "-C", SPHINX_OUT_PDF]
     SPHINX_MAKE_PDF_STDOUT = None
 
     if ARGS.log:
         SPHINX_BUILD_PDF_LOG = os.path.join(ARGS.output_dir, ".sphinx-build_pdf.log")
-        SPHINX_BUILD_PDF = ["sphinx-build", "-b", "latex",
-                            "-w", SPHINX_BUILD_PDF_LOG,
-                            SPHINX_IN, SPHINX_OUT_PDF]
-
+        SPHINX_BUILD_PDF = [
+            "sphinx-build", "-b", "latex",
+            "-w", SPHINX_BUILD_PDF_LOG,
+            SPHINX_IN, SPHINX_OUT_PDF,
+        ]
         sphinx_make_pdf_log = os.path.join(ARGS.output_dir, ".latex_make.log")
         SPHINX_MAKE_PDF_STDOUT = open(sphinx_make_pdf_log, "w", encoding="utf-8")
 
@@ -1026,6 +1033,7 @@ context_type_map = {
     "gpencil": ("GreasePencil", False),
     "gpencil_data": ("GreasePencil", False),
     "gpencil_data_owner": ("ID", False),
+    "hair": ("Hair", False),
     "image_paint_object": ("Object", False),
     "lattice": ("Lattice", False),
     "light": ("Light", False),
@@ -1042,6 +1050,7 @@ context_type_map = {
     "particle_settings": ("ParticleSettings", False),
     "particle_system": ("ParticleSystem", False),
     "particle_system_editable": ("ParticleSystem", False),
+    "pointcloud": ("PointCloud", False),
     "pose_bone": ("PoseBone", False),
     "pose_object": ("Object", False),
     "scene": ("Scene", False),
@@ -1196,12 +1205,15 @@ def pyrna_enum2sphinx(prop, use_empty_descriptions=False):
                 break
 
     if ok:
-        return "".join(["* ``%s`` %s.\n" %
-                        (identifier,
-                         ", ".join(escape_rst(val) for val in (name, description) if val),
-                         )
-                        for identifier, name, description in prop.enum_items
-                        ])
+        return "".join([
+            "* ``%s``\n"
+            "%s.\n" % (
+                identifier,
+                # Account for multi-line enum descriptions, allowing this to be a block of text.
+                indent(", ".join(escape_rst(val) for val in (name, description) if val) or "Undocumented", "  "),
+             )
+            for identifier, name, description in prop.enum_items
+        ])
     else:
         return ""
 
@@ -1268,7 +1280,7 @@ def pyrna2sphinx(basepath):
             fw(ident + ":%s%s:\n\n" % (id_name, identifier))
 
             if prop.name or prop.description:
-                fw(ident + "   " + ", ".join(val for val in (prop.name, prop.description) if val) + "\n\n")
+                fw(indent(", ".join(val for val in (prop.name, prop.description) if val), ident + "   ") + "\n\n")
 
             # special exception, can't use generic code here for enums
             if enum_text:
@@ -1714,7 +1726,7 @@ class PatchedPythonDomain(PythonDomain):
     # end workaround
 
     fw("def setup(app):\n")
-    fw("    app.add_stylesheet('css/theme_overrides.css')\n")
+    fw("    app.add_css_file('css/theme_overrides.css')\n")
     fw("    app.add_domain(PatchedPythonDomain, override=True)\n\n")
 
     file.close()

doc/python_api/sphinx_doc_update.py

@@ -118,20 +118,19 @@ def main():
 
         # III) Get Blender version info.
         getver_file = os.path.join(tmp_dir, "blendver.txt")
-        getver_script = (
-            "import sys, bpy\n"
-            "with open(sys.argv[-1], 'w') as f:\n"
-            "    is_release = bpy.app.version_cycle in {'rc', 'release'}\n"
-            "    is_beta = bpy.app.version_cycle in {'beta'}\n"
-            "    branch = bpy.app.build_branch.split()[0].decode()\n"
-            "    f.write('%d\\n' % is_release)\n"
-            "    f.write('%d\\n' % is_beta)\n"
-            "    f.write('%s\\n' % branch)\n"
-            "    f.write('%d.%d\\n' % (bpy.app.version[0], bpy.app.version[1]))\n"
-            "    f.write('%d.%d\\n' % (bpy.app.version[0], bpy.app.version[1])\n"
-            "            if (is_release or is_beta) else '%s\\n' % branch)\n"
-            "    f.write('%d_%d' % (bpy.app.version[0], bpy.app.version[1]))\n"
-        )
+        getver_script = (r"""import sys, bpy
+with open(sys.argv[-1], 'w') as f:
+    is_release = bpy.app.version_cycle in {'rc', 'release'}
+    is_beta = bpy.app.version_cycle in {'beta'}
+    branch = bpy.app.build_branch.split()[0].decode()
+    f.write('%d\n' % is_release)
+    f.write('%d\n' % is_beta)
+    f.write('%s\n' % branch)
+    f.write('%d.%d\n' % (bpy.app.version[0], bpy.app.version[1]))
+    f.write('%d.%d\n' % (bpy.app.version[0], bpy.app.version[1])
+            if (is_release or is_beta) else '%s\n' % branch)
+    f.write('%d_%d' % (bpy.app.version[0], bpy.app.version[1]))
+""")
         get_ver_cmd = (args.blender, "--background", "-noaudio", "--factory-startup", "--python-exit-code", "1",
                        "--python-expr", getver_script, "--", getver_file)
         subprocess.run(get_ver_cmd)

extern/audaspace/plugins/sdl/SDLDevice.cpp

@@ -52,7 +52,7 @@ SDLDevice::SDLDevice(DeviceSpecs specs, int buffersize) :
 	if(specs.channels == CHANNELS_INVALID)
 		specs.channels = CHANNELS_STEREO;
 	if(specs.format == FORMAT_INVALID)
-		specs.format = FORMAT_S16;
+		specs.format = FORMAT_FLOAT32;
 	if(specs.rate == RATE_INVALID)
 		specs.rate = RATE_48000;
 
@@ -61,10 +61,25 @@ SDLDevice::SDLDevice(DeviceSpecs specs, int buffersize) :
 	SDL_AudioSpec format, obtained;
 
 	format.freq = m_specs.rate;
-	if(m_specs.format == FORMAT_U8)
+	switch(m_specs.format)
+	{
+	case FORMAT_U8:
 		format.format = AUDIO_U8;
-	else
+		break;
+	case FORMAT_S16:
 		format.format = AUDIO_S16SYS;
+		break;
+	case FORMAT_S32:
+		format.format = AUDIO_S32SYS;
+		break;
+	case FORMAT_FLOAT32:
+		format.format = AUDIO_F32SYS;
+		break;
+	default:
+		format.format = AUDIO_F32SYS;
+		break;
+	}
+
 	format.channels = m_specs.channels;
 	format.samples = buffersize;
 	format.callback = SDLDevice::SDL_mix;
@@ -75,14 +90,25 @@ SDLDevice::SDLDevice(DeviceSpecs specs, int buffersize) :
 
 	m_specs.rate = (SampleRate)obtained.freq;
 	m_specs.channels = (Channels)obtained.channels;
-	if(obtained.format == AUDIO_U8)
-		m_specs.format = FORMAT_U8;
-	else if(obtained.format == AUDIO_S16LSB || obtained.format == AUDIO_S16MSB)
-		m_specs.format = FORMAT_S16;
-	else
+
+	switch(obtained.format)
 	{
+	case AUDIO_U8:
+		m_specs.format = FORMAT_U8;
+		break;
+	case AUDIO_S16SYS:
+		m_specs.format = FORMAT_S16;
+		break;
+	case AUDIO_S32SYS:
+		m_specs.format = FORMAT_S32;
+		break;
+	case AUDIO_F32SYS:
+		m_specs.format = FORMAT_FLOAT32;
+		break;
+	default:
 		SDL_CloseAudio();
 		AUD_THROW(DeviceException, "The sample format obtained from SDL is not supported.");
+		break;
 	}
 
 	create();

extern/ceres/CMakeLists.txt

@@ -37,223 +37,279 @@ set(INC_SYS
 )
 
 set(SRC
-  internal/ceres/array_utils.cc
-  internal/ceres/blas.cc
-  internal/ceres/block_evaluate_preparer.cc
-  internal/ceres/block_jacobian_writer.cc
-  internal/ceres/block_jacobi_preconditioner.cc
-  internal/ceres/block_random_access_dense_matrix.cc
-  internal/ceres/block_random_access_diagonal_matrix.cc
-  internal/ceres/block_random_access_matrix.cc
-  internal/ceres/block_random_access_sparse_matrix.cc
-  internal/ceres/block_sparse_matrix.cc
-  internal/ceres/block_structure.cc
-  internal/ceres/callbacks.cc
-  internal/ceres/c_api.cc
-  internal/ceres/cgnr_solver.cc
-  internal/ceres/compressed_col_sparse_matrix_utils.cc
-  internal/ceres/compressed_row_jacobian_writer.cc
-  internal/ceres/compressed_row_sparse_matrix.cc
-  internal/ceres/conditioned_cost_function.cc
-  internal/ceres/conjugate_gradients_solver.cc
-  internal/ceres/coordinate_descent_minimizer.cc
-  internal/ceres/corrector.cc
-  internal/ceres/covariance.cc
-  internal/ceres/covariance_impl.cc
-  internal/ceres/dense_normal_cholesky_solver.cc
-  internal/ceres/dense_qr_solver.cc
-  internal/ceres/dense_sparse_matrix.cc
-  internal/ceres/detect_structure.cc
-  internal/ceres/dogleg_strategy.cc
-  internal/ceres/dynamic_compressed_row_jacobian_writer.cc
-  internal/ceres/dynamic_compressed_row_sparse_matrix.cc
-  internal/ceres/evaluator.cc
-  internal/ceres/file.cc
-  internal/ceres/generated/partitioned_matrix_view_d_d_d.cc
-  internal/ceres/generated/schur_eliminator_d_d_d.cc
-  internal/ceres/gradient_checker.cc
-  internal/ceres/gradient_checking_cost_function.cc
-  internal/ceres/gradient_problem.cc
-  internal/ceres/gradient_problem_solver.cc
-  internal/ceres/implicit_schur_complement.cc
-  internal/ceres/is_close.cc
-  internal/ceres/iterative_schur_complement_solver.cc
-  internal/ceres/lapack.cc
-  internal/ceres/levenberg_marquardt_strategy.cc
-  internal/ceres/linear_least_squares_problems.cc
-  internal/ceres/linear_operator.cc
-  internal/ceres/linear_solver.cc
-  internal/ceres/line_search.cc
-  internal/ceres/line_search_direction.cc
-  internal/ceres/line_search_minimizer.cc
-  internal/ceres/line_search_preprocessor.cc
-  internal/ceres/local_parameterization.cc
-  internal/ceres/loss_function.cc
-  internal/ceres/low_rank_inverse_hessian.cc
-  internal/ceres/minimizer.cc
-  internal/ceres/normal_prior.cc
-  internal/ceres/parameter_block_ordering.cc
-  internal/ceres/partitioned_matrix_view.cc
-  internal/ceres/polynomial.cc
-  internal/ceres/preconditioner.cc
-  internal/ceres/preprocessor.cc
-  internal/ceres/problem.cc
-  internal/ceres/problem_impl.cc
-  internal/ceres/program.cc
-  internal/ceres/reorder_program.cc
-  internal/ceres/residual_block.cc
-  internal/ceres/residual_block_utils.cc
-  internal/ceres/schur_complement_solver.cc
-  internal/ceres/schur_eliminator.cc
-  internal/ceres/schur_jacobi_preconditioner.cc
-  internal/ceres/scratch_evaluate_preparer.cc
-  internal/ceres/solver.cc
-  internal/ceres/solver_utils.cc
-  internal/ceres/sparse_matrix.cc
-  internal/ceres/sparse_normal_cholesky_solver.cc
-  internal/ceres/split.cc
-  internal/ceres/stringprintf.cc
-  internal/ceres/triplet_sparse_matrix.cc
-  internal/ceres/trust_region_minimizer.cc
-  internal/ceres/trust_region_preprocessor.cc
-  internal/ceres/trust_region_step_evaluator.cc
-  internal/ceres/trust_region_strategy.cc
-  internal/ceres/types.cc
-  internal/ceres/wall_time.cc
+	internal/ceres/accelerate_sparse.cc
+	internal/ceres/array_utils.cc
+	internal/ceres/blas.cc
+	internal/ceres/block_evaluate_preparer.cc
+	internal/ceres/block_jacobian_writer.cc
+	internal/ceres/block_jacobi_preconditioner.cc
+	internal/ceres/block_random_access_dense_matrix.cc
+	internal/ceres/block_random_access_diagonal_matrix.cc
+	internal/ceres/block_random_access_matrix.cc
+	internal/ceres/block_random_access_sparse_matrix.cc
+	internal/ceres/block_sparse_matrix.cc
+	internal/ceres/block_structure.cc
+	internal/ceres/callbacks.cc
+	internal/ceres/canonical_views_clustering.cc
+	internal/ceres/c_api.cc
+	internal/ceres/cgnr_solver.cc
+	internal/ceres/compressed_col_sparse_matrix_utils.cc
+	internal/ceres/compressed_row_jacobian_writer.cc
+	internal/ceres/compressed_row_sparse_matrix.cc
+	internal/ceres/conditioned_cost_function.cc
+	internal/ceres/conjugate_gradients_solver.cc
+	internal/ceres/context.cc
+	internal/ceres/context_impl.cc
+	internal/ceres/coordinate_descent_minimizer.cc
+	internal/ceres/corrector.cc
+	internal/ceres/covariance.cc
+	internal/ceres/covariance_impl.cc
+	internal/ceres/cxsparse.cc
+	internal/ceres/dense_normal_cholesky_solver.cc
+	internal/ceres/dense_qr_solver.cc
+	internal/ceres/dense_sparse_matrix.cc
+	internal/ceres/detect_structure.cc
+	internal/ceres/dogleg_strategy.cc
+	internal/ceres/dynamic_compressed_row_jacobian_writer.cc
+	internal/ceres/dynamic_compressed_row_sparse_matrix.cc
+	internal/ceres/dynamic_sparse_normal_cholesky_solver.cc
+	internal/ceres/eigensparse.cc
+	internal/ceres/evaluator.cc
+	internal/ceres/file.cc
+	internal/ceres/float_cxsparse.cc
+	internal/ceres/float_suitesparse.cc
+	internal/ceres/function_sample.cc
+	internal/ceres/generated/partitioned_matrix_view_d_d_d.cc
+	internal/ceres/generated/schur_eliminator_d_d_d.cc
+	internal/ceres/gradient_checker.cc
+	internal/ceres/gradient_checking_cost_function.cc
+	internal/ceres/gradient_problem.cc
+	internal/ceres/gradient_problem_solver.cc
+	internal/ceres/implicit_schur_complement.cc
+	internal/ceres/inner_product_computer.cc
+	internal/ceres/is_close.cc
+	internal/ceres/iterative_refiner.cc
+	internal/ceres/iterative_schur_complement_solver.cc
+	internal/ceres/lapack.cc
+	internal/ceres/levenberg_marquardt_strategy.cc
+	internal/ceres/linear_least_squares_problems.cc
+	internal/ceres/linear_operator.cc
+	internal/ceres/linear_solver.cc
+	internal/ceres/line_search.cc
+	internal/ceres/line_search_direction.cc
+	internal/ceres/line_search_minimizer.cc
+	internal/ceres/line_search_preprocessor.cc
+	internal/ceres/local_parameterization.cc
+	internal/ceres/loss_function.cc
+	internal/ceres/low_rank_inverse_hessian.cc
+	internal/ceres/minimizer.cc
+	internal/ceres/normal_prior.cc
+	internal/ceres/parallel_for_cxx.cc
+	internal/ceres/parallel_for_nothreads.cc
+	internal/ceres/parallel_for_openmp.cc
+	internal/ceres/parallel_utils.cc
+	internal/ceres/parameter_block_ordering.cc
+	internal/ceres/partitioned_matrix_view.cc
+	internal/ceres/polynomial.cc
+	internal/ceres/preconditioner.cc
+	internal/ceres/preprocessor.cc
+	internal/ceres/problem.cc
+	internal/ceres/problem_impl.cc
+	internal/ceres/program.cc
+	internal/ceres/reorder_program.cc
+	internal/ceres/residual_block.cc
+	internal/ceres/residual_block_utils.cc
+	internal/ceres/schur_complement_solver.cc
+	internal/ceres/schur_eliminator.cc
+	internal/ceres/schur_jacobi_preconditioner.cc
+	internal/ceres/schur_templates.cc
+	internal/ceres/scratch_evaluate_preparer.cc
+	internal/ceres/single_linkage_clustering.cc
+	internal/ceres/solver.cc
+	internal/ceres/solver_utils.cc
+	internal/ceres/sparse_cholesky.cc
+	internal/ceres/sparse_matrix.cc
+	internal/ceres/sparse_normal_cholesky_solver.cc
+	internal/ceres/split.cc
+	internal/ceres/stringprintf.cc
+	internal/ceres/subset_preconditioner.cc
+	internal/ceres/suitesparse.cc
+	internal/ceres/thread_pool.cc
+	internal/ceres/thread_token_provider.cc
+	internal/ceres/triplet_sparse_matrix.cc
+	internal/ceres/trust_region_minimizer.cc
+	internal/ceres/trust_region_preprocessor.cc
+	internal/ceres/trust_region_step_evaluator.cc
+	internal/ceres/trust_region_strategy.cc
+	internal/ceres/types.cc
+	internal/ceres/visibility_based_preconditioner.cc
+	internal/ceres/visibility.cc
+	internal/ceres/wall_time.cc
 
-  include/ceres/autodiff_cost_function.h
-  include/ceres/autodiff_local_parameterization.h
-  include/ceres/c_api.h
-  include/ceres/ceres.h
-  include/ceres/conditioned_cost_function.h
-  include/ceres/cost_function.h
-  include/ceres/cost_function_to_functor.h
-  include/ceres/covariance.h
-  include/ceres/crs_matrix.h
-  include/ceres/dynamic_autodiff_cost_function.h
-  include/ceres/dynamic_cost_function_to_functor.h
-  include/ceres/dynamic_numeric_diff_cost_function.h
-  include/ceres/fpclassify.h
-  include/ceres/gradient_checker.h
-  include/ceres/gradient_problem.h
-  include/ceres/gradient_problem_solver.h
-  include/ceres/internal/autodiff.h
-  include/ceres/internal/disable_warnings.h
-  include/ceres/internal/eigen.h
-  include/ceres/internal/fixed_array.h
-  include/ceres/internal/macros.h
-  include/ceres/internal/manual_constructor.h
-  include/ceres/internal/numeric_diff.h
-  include/ceres/internal/port.h
-  include/ceres/internal/reenable_warnings.h
-  include/ceres/internal/scoped_ptr.h
-  include/ceres/internal/variadic_evaluate.h
-  include/ceres/iteration_callback.h
-  include/ceres/jet.h
-  include/ceres/local_parameterization.h
-  include/ceres/loss_function.h
-  include/ceres/normal_prior.h
-  include/ceres/numeric_diff_cost_function.h
-  include/ceres/numeric_diff_options.h
-  include/ceres/ordered_groups.h
-  include/ceres/problem.h
-  include/ceres/rotation.h
-  include/ceres/sized_cost_function.h
-  include/ceres/solver.h
-  include/ceres/types.h
-  include/ceres/version.h
-  internal/ceres/array_utils.h
-  internal/ceres/blas.h
-  internal/ceres/block_evaluate_preparer.h
-  internal/ceres/block_jacobian_writer.h
-  internal/ceres/block_jacobi_preconditioner.h
-  internal/ceres/block_random_access_dense_matrix.h
-  internal/ceres/block_random_access_diagonal_matrix.h
-  internal/ceres/block_random_access_matrix.h
-  internal/ceres/block_random_access_sparse_matrix.h
-  internal/ceres/block_sparse_matrix.h
-  internal/ceres/block_structure.h
-  internal/ceres/callbacks.h
-  internal/ceres/casts.h
-  internal/ceres/cgnr_linear_operator.h
-  internal/ceres/cgnr_solver.h
-  internal/ceres/collections_port.h
-  internal/ceres/compressed_col_sparse_matrix_utils.h
-  internal/ceres/compressed_row_jacobian_writer.h
-  internal/ceres/compressed_row_sparse_matrix.h
-  internal/ceres/conjugate_gradients_solver.h
-  internal/ceres/coordinate_descent_minimizer.h
-  internal/ceres/corrector.h
-  internal/ceres/covariance_impl.h
-  internal/ceres/cxsparse.h
-  internal/ceres/dense_jacobian_writer.h
-  internal/ceres/dense_normal_cholesky_solver.h
-  internal/ceres/dense_qr_solver.h
-  internal/ceres/dense_sparse_matrix.h
-  internal/ceres/detect_structure.h
-  internal/ceres/dogleg_strategy.h
-  internal/ceres/dynamic_compressed_row_finalizer.h
-  internal/ceres/dynamic_compressed_row_jacobian_writer.h
-  internal/ceres/dynamic_compressed_row_sparse_matrix.h
-  internal/ceres/evaluator.h
-  internal/ceres/execution_summary.h
-  internal/ceres/file.h
-  internal/ceres/gradient_checking_cost_function.h
-  internal/ceres/gradient_problem_evaluator.h
-  internal/ceres/graph_algorithms.h
-  internal/ceres/graph.h
-  internal/ceres/householder_vector.h
-  internal/ceres/implicit_schur_complement.h
-  internal/ceres/integral_types.h
-  internal/ceres/is_close.h
-  internal/ceres/iterative_schur_complement_solver.h
-  internal/ceres/lapack.h
-  internal/ceres/levenberg_marquardt_strategy.h
-  internal/ceres/linear_least_squares_problems.h
-  internal/ceres/linear_operator.h
-  internal/ceres/linear_solver.h
-  internal/ceres/line_search_direction.h
-  internal/ceres/line_search.h
-  internal/ceres/line_search_minimizer.h
-  internal/ceres/line_search_preprocessor.h
-  internal/ceres/low_rank_inverse_hessian.h
-  internal/ceres/map_util.h
-  internal/ceres/minimizer.h
-  internal/ceres/mutex.h
-  internal/ceres/parameter_block.h
-  internal/ceres/parameter_block_ordering.h
-  internal/ceres/partitioned_matrix_view.h
-  internal/ceres/partitioned_matrix_view_impl.h
-  internal/ceres/polynomial.h
-  internal/ceres/preconditioner.h
-  internal/ceres/preprocessor.h
-  internal/ceres/problem_impl.h
-  internal/ceres/program_evaluator.h
-  internal/ceres/program.h
-  internal/ceres/random.h
-  internal/ceres/reorder_program.h
-  internal/ceres/residual_block.h
-  internal/ceres/residual_block_utils.h
-  internal/ceres/schur_complement_solver.h
-  internal/ceres/schur_eliminator.h
-  internal/ceres/schur_eliminator_impl.h
-  internal/ceres/schur_jacobi_preconditioner.h
-  internal/ceres/scratch_evaluate_preparer.h
-  internal/ceres/small_blas.h
-  internal/ceres/solver_utils.h
-  internal/ceres/sparse_matrix.h
-  internal/ceres/sparse_normal_cholesky_solver.h
-  internal/ceres/split.h
-  internal/ceres/stl_util.h
-  internal/ceres/stringprintf.h
-  internal/ceres/suitesparse.h
-  internal/ceres/triplet_sparse_matrix.h
-  internal/ceres/trust_region_minimizer.h
-  internal/ceres/trust_region_preprocessor.h
-  internal/ceres/trust_region_step_evaluator.h
-  internal/ceres/trust_region_strategy.h
-  internal/ceres/visibility_based_preconditioner.h
-  internal/ceres/wall_time.h
+	include/ceres/autodiff_cost_function.h
+	include/ceres/autodiff_first_order_function.h
+	include/ceres/autodiff_local_parameterization.h
+	include/ceres/c_api.h
+	include/ceres/ceres.h
+	include/ceres/conditioned_cost_function.h
+	include/ceres/context.h
+	include/ceres/cost_function.h
+	include/ceres/cost_function_to_functor.h
+	include/ceres/covariance.h
+	include/ceres/crs_matrix.h
+	include/ceres/cubic_interpolation.h
+	include/ceres/dynamic_autodiff_cost_function.h
+	include/ceres/dynamic_cost_function.h
+	include/ceres/dynamic_cost_function_to_functor.h
+	include/ceres/dynamic_numeric_diff_cost_function.h
+	include/ceres/evaluation_callback.h
+	include/ceres/first_order_function.h
+	include/ceres/gradient_checker.h
+	include/ceres/gradient_problem.h
+	include/ceres/gradient_problem_solver.h
+	include/ceres/internal/array_selector.h
+	include/ceres/internal/autodiff.h
+	include/ceres/internal/disable_warnings.h
+	include/ceres/internal/eigen.h
+	include/ceres/internal/fixed_array.h
+	include/ceres/internal/householder_vector.h
+	include/ceres/internal/integer_sequence_algorithm.h
+	include/ceres/internal/line_parameterization.h
+	include/ceres/internal/memory.h
+	include/ceres/internal/numeric_diff.h
+	include/ceres/internal/parameter_dims.h
+	include/ceres/internal/port.h
+	include/ceres/internal/reenable_warnings.h
+	include/ceres/internal/variadic_evaluate.h
+	include/ceres/iteration_callback.h
+	include/ceres/jet.h
+	include/ceres/local_parameterization.h
+	include/ceres/loss_function.h
+	include/ceres/normal_prior.h
+	include/ceres/numeric_diff_cost_function.h
+	include/ceres/numeric_diff_options.h
+	include/ceres/ordered_groups.h
+	include/ceres/problem.h
+	include/ceres/rotation.h
+	include/ceres/sized_cost_function.h
+	include/ceres/solver.h
+	include/ceres/tiny_solver_autodiff_function.h
+	include/ceres/tiny_solver_cost_function_adapter.h
+	include/ceres/tiny_solver.h
+	include/ceres/types.h
+	include/ceres/version.h
+	internal/ceres/accelerate_sparse.h
+	internal/ceres/array_utils.h
+	internal/ceres/blas.h
+	internal/ceres/block_evaluate_preparer.h
+	internal/ceres/block_jacobian_writer.h
+	internal/ceres/block_jacobi_preconditioner.h
+	internal/ceres/block_random_access_dense_matrix.h
+	internal/ceres/block_random_access_diagonal_matrix.h
+	internal/ceres/block_random_access_matrix.h
+	internal/ceres/block_random_access_sparse_matrix.h
+	internal/ceres/block_sparse_matrix.h
+	internal/ceres/block_structure.h
+	internal/ceres/callbacks.h
+	internal/ceres/canonical_views_clustering.h
+	internal/ceres/casts.h
+	internal/ceres/cgnr_linear_operator.h
+	internal/ceres/cgnr_solver.h
+	internal/ceres/compressed_col_sparse_matrix_utils.h
+	internal/ceres/compressed_row_jacobian_writer.h
+	internal/ceres/compressed_row_sparse_matrix.h
+	internal/ceres/concurrent_queue.h
+	internal/ceres/conjugate_gradients_solver.h
+	internal/ceres/context_impl.h
+	internal/ceres/coordinate_descent_minimizer.h
+	internal/ceres/corrector.h
+	internal/ceres/covariance_impl.h
+	internal/ceres/cxsparse.h
+	internal/ceres/dense_jacobian_writer.h
+	internal/ceres/dense_normal_cholesky_solver.h
+	internal/ceres/dense_qr_solver.h
+	internal/ceres/dense_sparse_matrix.h
+	internal/ceres/detect_structure.h
+	internal/ceres/dogleg_strategy.h
+	internal/ceres/dynamic_compressed_row_finalizer.h
+	internal/ceres/dynamic_compressed_row_jacobian_writer.h
+	internal/ceres/dynamic_compressed_row_sparse_matrix.h
+	internal/ceres/dynamic_sparse_normal_cholesky_solver.h
+	internal/ceres/eigensparse.h
+	internal/ceres/evaluator.h
+	internal/ceres/execution_summary.h
+	internal/ceres/file.h
+	internal/ceres/float_cxsparse.h
+	internal/ceres/float_suitesparse.h
+	internal/ceres/function_sample.h
+	internal/ceres/gradient_checking_cost_function.h
+	internal/ceres/gradient_problem_evaluator.h
+	internal/ceres/graph_algorithms.h
+	internal/ceres/graph.h
+	internal/ceres/implicit_schur_complement.h
+	internal/ceres/inner_product_computer.h
+	internal/ceres/invert_psd_matrix.h
+	internal/ceres/is_close.h
+	internal/ceres/iterative_refiner.h
+	internal/ceres/iterative_schur_complement_solver.h
+	internal/ceres/lapack.h
+	internal/ceres/levenberg_marquardt_strategy.h
+	internal/ceres/linear_least_squares_problems.h
+	internal/ceres/linear_operator.h
+	internal/ceres/linear_solver.h
+	internal/ceres/line_search_direction.h
+	internal/ceres/line_search.h
+	internal/ceres/line_search_minimizer.h
+	internal/ceres/line_search_preprocessor.h
+	internal/ceres/low_rank_inverse_hessian.h
+	internal/ceres/map_util.h
+	internal/ceres/minimizer.h
+	internal/ceres/pair_hash.h
+	internal/ceres/parallel_for.h
+	internal/ceres/parallel_utils.h
+	internal/ceres/parameter_block.h
+	internal/ceres/parameter_block_ordering.h
+	internal/ceres/partitioned_matrix_view.h
+	internal/ceres/partitioned_matrix_view_impl.h
+	internal/ceres/polynomial.h
+	internal/ceres/preconditioner.h
+	internal/ceres/preprocessor.h
+	internal/ceres/problem_impl.h
+	internal/ceres/program_evaluator.h
+	internal/ceres/program.h
+	internal/ceres/random.h
+	internal/ceres/reorder_program.h
+	internal/ceres/residual_block.h
+	internal/ceres/residual_block_utils.h
+	internal/ceres/schur_complement_solver.h
+	internal/ceres/schur_eliminator.h
+	internal/ceres/schur_eliminator_impl.h
+	internal/ceres/schur_jacobi_preconditioner.h
+	internal/ceres/schur_templates.h
+	internal/ceres/scoped_thread_token.h
+	internal/ceres/scratch_evaluate_preparer.h
+	internal/ceres/single_linkage_clustering.h
+	internal/ceres/small_blas_generic.h
+	internal/ceres/small_blas.h
+	internal/ceres/solver_utils.h
+	internal/ceres/sparse_cholesky.h
+	internal/ceres/sparse_matrix.h
+	internal/ceres/sparse_normal_cholesky_solver.h
+	internal/ceres/split.h
+	internal/ceres/stl_util.h
+	internal/ceres/stringprintf.h
+	internal/ceres/subset_preconditioner.h
+	internal/ceres/suitesparse.h
+	internal/ceres/thread_pool.h
+	internal/ceres/thread_token_provider.h
+	internal/ceres/triplet_sparse_matrix.h
+	internal/ceres/trust_region_minimizer.h
+	internal/ceres/trust_region_preprocessor.h
+	internal/ceres/trust_region_step_evaluator.h
+	internal/ceres/trust_region_strategy.h
+	internal/ceres/visibility_based_preconditioner.h
+	internal/ceres/visibility.h
+	internal/ceres/wall_time.h
 )
 
 set(LIB
@@ -263,44 +319,48 @@ set(LIB
 
 if(WITH_LIBMV_SCHUR_SPECIALIZATIONS)
   list(APPEND SRC
-    internal/ceres/generated/partitioned_matrix_view_2_2_2.cc
-    internal/ceres/generated/partitioned_matrix_view_2_2_3.cc
-    internal/ceres/generated/partitioned_matrix_view_2_2_4.cc
-    internal/ceres/generated/partitioned_matrix_view_2_2_d.cc
-    internal/ceres/generated/partitioned_matrix_view_2_3_3.cc
-    internal/ceres/generated/partitioned_matrix_view_2_3_4.cc
-    internal/ceres/generated/partitioned_matrix_view_2_3_6.cc
-    internal/ceres/generated/partitioned_matrix_view_2_3_9.cc
-    internal/ceres/generated/partitioned_matrix_view_2_3_d.cc
-    internal/ceres/generated/partitioned_matrix_view_2_4_3.cc
-    internal/ceres/generated/partitioned_matrix_view_2_4_4.cc
-    internal/ceres/generated/partitioned_matrix_view_2_4_8.cc
-    internal/ceres/generated/partitioned_matrix_view_2_4_9.cc
-    internal/ceres/generated/partitioned_matrix_view_2_4_d.cc
-    internal/ceres/generated/partitioned_matrix_view_2_d_d.cc
-    internal/ceres/generated/partitioned_matrix_view_4_4_2.cc
-    internal/ceres/generated/partitioned_matrix_view_4_4_3.cc
-    internal/ceres/generated/partitioned_matrix_view_4_4_4.cc
-    internal/ceres/generated/partitioned_matrix_view_4_4_d.cc
-    internal/ceres/generated/schur_eliminator_2_2_2.cc
-    internal/ceres/generated/schur_eliminator_2_2_3.cc
-    internal/ceres/generated/schur_eliminator_2_2_4.cc
-    internal/ceres/generated/schur_eliminator_2_2_d.cc
-    internal/ceres/generated/schur_eliminator_2_3_3.cc
-    internal/ceres/generated/schur_eliminator_2_3_4.cc
-    internal/ceres/generated/schur_eliminator_2_3_6.cc
-    internal/ceres/generated/schur_eliminator_2_3_9.cc
-    internal/ceres/generated/schur_eliminator_2_3_d.cc
-    internal/ceres/generated/schur_eliminator_2_4_3.cc
-    internal/ceres/generated/schur_eliminator_2_4_4.cc
-    internal/ceres/generated/schur_eliminator_2_4_8.cc
-    internal/ceres/generated/schur_eliminator_2_4_9.cc
-    internal/ceres/generated/schur_eliminator_2_4_d.cc
-    internal/ceres/generated/schur_eliminator_2_d_d.cc
-    internal/ceres/generated/schur_eliminator_4_4_2.cc
-    internal/ceres/generated/schur_eliminator_4_4_3.cc
-    internal/ceres/generated/schur_eliminator_4_4_4.cc
-    internal/ceres/generated/schur_eliminator_4_4_d.cc
+		internal/ceres/generated/partitioned_matrix_view_2_2_2.cc
+		internal/ceres/generated/partitioned_matrix_view_2_2_3.cc
+		internal/ceres/generated/partitioned_matrix_view_2_2_4.cc
+		internal/ceres/generated/partitioned_matrix_view_2_2_d.cc
+		internal/ceres/generated/partitioned_matrix_view_2_3_3.cc
+		internal/ceres/generated/partitioned_matrix_view_2_3_4.cc
+		internal/ceres/generated/partitioned_matrix_view_2_3_6.cc
+		internal/ceres/generated/partitioned_matrix_view_2_3_9.cc
+		internal/ceres/generated/partitioned_matrix_view_2_3_d.cc
+		internal/ceres/generated/partitioned_matrix_view_2_4_3.cc
+		internal/ceres/generated/partitioned_matrix_view_2_4_4.cc
+		internal/ceres/generated/partitioned_matrix_view_2_4_6.cc
+		internal/ceres/generated/partitioned_matrix_view_2_4_8.cc
+		internal/ceres/generated/partitioned_matrix_view_2_4_9.cc
+		internal/ceres/generated/partitioned_matrix_view_2_4_d.cc
+		internal/ceres/generated/partitioned_matrix_view_2_d_d.cc
+		internal/ceres/generated/partitioned_matrix_view_3_3_3.cc
+		internal/ceres/generated/partitioned_matrix_view_4_4_2.cc
+		internal/ceres/generated/partitioned_matrix_view_4_4_3.cc
+		internal/ceres/generated/partitioned_matrix_view_4_4_4.cc
+		internal/ceres/generated/partitioned_matrix_view_4_4_d.cc
+		internal/ceres/generated/schur_eliminator_2_2_2.cc
+		internal/ceres/generated/schur_eliminator_2_2_3.cc
+		internal/ceres/generated/schur_eliminator_2_2_4.cc
+		internal/ceres/generated/schur_eliminator_2_2_d.cc
+		internal/ceres/generated/schur_eliminator_2_3_3.cc
+		internal/ceres/generated/schur_eliminator_2_3_4.cc
+		internal/ceres/generated/schur_eliminator_2_3_6.cc
+		internal/ceres/generated/schur_eliminator_2_3_9.cc
+		internal/ceres/generated/schur_eliminator_2_3_d.cc
+		internal/ceres/generated/schur_eliminator_2_4_3.cc
+		internal/ceres/generated/schur_eliminator_2_4_4.cc
+		internal/ceres/generated/schur_eliminator_2_4_6.cc
+		internal/ceres/generated/schur_eliminator_2_4_8.cc
+		internal/ceres/generated/schur_eliminator_2_4_9.cc
+		internal/ceres/generated/schur_eliminator_2_4_d.cc
+		internal/ceres/generated/schur_eliminator_2_d_d.cc
+		internal/ceres/generated/schur_eliminator_3_3_3.cc
+		internal/ceres/generated/schur_eliminator_4_4_2.cc
+		internal/ceres/generated/schur_eliminator_4_4_3.cc
+		internal/ceres/generated/schur_eliminator_4_4_4.cc
+		internal/ceres/generated/schur_eliminator_4_4_d.cc
   )
 else()
   add_definitions(-DCERES_RESTRICT_SCHUR_SPECIALIZATION)
@@ -315,13 +375,9 @@ add_definitions(
   -DCERES_NO_SUITESPARSE
   -DCERES_NO_CXSPARSE
   -DCERES_NO_LAPACK
+  -DCERES_NO_ACCELERATE_SPARSE
   -DCERES_HAVE_RWLOCK
+  -DCERES_USE_CXX_THREADS
 )
 
-if(WITH_OPENMP)
-  add_definitions(
-    -DCERES_USE_OPENMP
-  )
-endif()
-
 blender_add_lib(extern_ceres "${SRC}" "${INC}" "${INC_SYS}" "${LIB}")

extern/ceres/bundle.sh

@@ -9,7 +9,6 @@ fi
 
 repo="https://ceres-solver.googlesource.com/ceres-solver"
 branch="master"
-#tag="1.4.0"
 tag=""
 tmp=`mktemp -d`
 checkout="$tmp/ceres"
@@ -157,14 +156,10 @@ add_definitions(
   -DCERES_NO_SUITESPARSE
   -DCERES_NO_CXSPARSE
   -DCERES_NO_LAPACK
+  -DCERES_NO_ACCELERATE_SPARSE
   -DCERES_HAVE_RWLOCK
+  -DCERES_USE_CXX_THREADS
 )
 
-if(WITH_OPENMP)
-  add_definitions(
-    -DCERES_USE_OPENMP
-  )
-endif()
-
 blender_add_lib(extern_ceres "\${SRC}" "\${INC}" "\${INC_SYS}" "\${LIB}")
 EOF

extern/ceres/files.txt

@@ -1,29 +1,37 @@
 include/ceres/autodiff_cost_function.h
+include/ceres/autodiff_first_order_function.h
 include/ceres/autodiff_local_parameterization.h
 include/ceres/c_api.h
 include/ceres/ceres.h
 include/ceres/conditioned_cost_function.h
+include/ceres/context.h
 include/ceres/cost_function.h
 include/ceres/cost_function_to_functor.h
 include/ceres/covariance.h
 include/ceres/crs_matrix.h
+include/ceres/cubic_interpolation.h
 include/ceres/dynamic_autodiff_cost_function.h
+include/ceres/dynamic_cost_function.h
 include/ceres/dynamic_cost_function_to_functor.h
 include/ceres/dynamic_numeric_diff_cost_function.h
-include/ceres/fpclassify.h
+include/ceres/evaluation_callback.h
+include/ceres/first_order_function.h
 include/ceres/gradient_checker.h
 include/ceres/gradient_problem.h
 include/ceres/gradient_problem_solver.h
+include/ceres/internal/array_selector.h
 include/ceres/internal/autodiff.h
 include/ceres/internal/disable_warnings.h
 include/ceres/internal/eigen.h
 include/ceres/internal/fixed_array.h
-include/ceres/internal/macros.h
-include/ceres/internal/manual_constructor.h
+include/ceres/internal/householder_vector.h
+include/ceres/internal/integer_sequence_algorithm.h
+include/ceres/internal/line_parameterization.h
+include/ceres/internal/memory.h
 include/ceres/internal/numeric_diff.h
+include/ceres/internal/parameter_dims.h
 include/ceres/internal/port.h
 include/ceres/internal/reenable_warnings.h
-include/ceres/internal/scoped_ptr.h
 include/ceres/internal/variadic_evaluate.h
 include/ceres/iteration_callback.h
 include/ceres/jet.h
@@ -37,8 +45,13 @@ include/ceres/problem.h
 include/ceres/rotation.h
 include/ceres/sized_cost_function.h
 include/ceres/solver.h
+include/ceres/tiny_solver_autodiff_function.h
+include/ceres/tiny_solver_cost_function_adapter.h
+include/ceres/tiny_solver.h
 include/ceres/types.h
 include/ceres/version.h
+internal/ceres/accelerate_sparse.cc
+internal/ceres/accelerate_sparse.h
 internal/ceres/array_utils.cc
 internal/ceres/array_utils.h
 internal/ceres/blas.cc
@@ -63,21 +76,26 @@ internal/ceres/block_structure.cc
 internal/ceres/block_structure.h
 internal/ceres/callbacks.cc
 internal/ceres/callbacks.h
+internal/ceres/canonical_views_clustering.cc
+internal/ceres/canonical_views_clustering.h
 internal/ceres/c_api.cc
 internal/ceres/casts.h
 internal/ceres/cgnr_linear_operator.h
 internal/ceres/cgnr_solver.cc
 internal/ceres/cgnr_solver.h
-internal/ceres/collections_port.h
 internal/ceres/compressed_col_sparse_matrix_utils.cc
 internal/ceres/compressed_col_sparse_matrix_utils.h
 internal/ceres/compressed_row_jacobian_writer.cc
 internal/ceres/compressed_row_jacobian_writer.h
 internal/ceres/compressed_row_sparse_matrix.cc
 internal/ceres/compressed_row_sparse_matrix.h
+internal/ceres/concurrent_queue.h
 internal/ceres/conditioned_cost_function.cc
 internal/ceres/conjugate_gradients_solver.cc
 internal/ceres/conjugate_gradients_solver.h
+internal/ceres/context.cc
+internal/ceres/context_impl.cc
+internal/ceres/context_impl.h
 internal/ceres/coordinate_descent_minimizer.cc
 internal/ceres/coordinate_descent_minimizer.h
 internal/ceres/corrector.cc
@@ -85,6 +103,7 @@ internal/ceres/corrector.h
 internal/ceres/covariance.cc
 internal/ceres/covariance_impl.cc
 internal/ceres/covariance_impl.h
+internal/ceres/cxsparse.cc
 internal/ceres/cxsparse.h
 internal/ceres/dense_jacobian_writer.h
 internal/ceres/dense_normal_cholesky_solver.cc
@@ -102,11 +121,21 @@ internal/ceres/dynamic_compressed_row_jacobian_writer.cc
 internal/ceres/dynamic_compressed_row_jacobian_writer.h
 internal/ceres/dynamic_compressed_row_sparse_matrix.cc
 internal/ceres/dynamic_compressed_row_sparse_matrix.h
+internal/ceres/dynamic_sparse_normal_cholesky_solver.cc
+internal/ceres/dynamic_sparse_normal_cholesky_solver.h
+internal/ceres/eigensparse.cc
+internal/ceres/eigensparse.h
 internal/ceres/evaluator.cc
 internal/ceres/evaluator.h
 internal/ceres/execution_summary.h
 internal/ceres/file.cc
 internal/ceres/file.h
+internal/ceres/float_cxsparse.cc
+internal/ceres/float_cxsparse.h
+internal/ceres/float_suitesparse.cc
+internal/ceres/float_suitesparse.h
+internal/ceres/function_sample.cc
+internal/ceres/function_sample.h
 internal/ceres/generated/partitioned_matrix_view_2_2_2.cc
 internal/ceres/generated/partitioned_matrix_view_2_2_3.cc
 internal/ceres/generated/partitioned_matrix_view_2_2_4.cc
@@ -118,10 +147,12 @@ internal/ceres/generated/partitioned_matrix_view_2_3_9.cc
 internal/ceres/generated/partitioned_matrix_view_2_3_d.cc
 internal/ceres/generated/partitioned_matrix_view_2_4_3.cc
 internal/ceres/generated/partitioned_matrix_view_2_4_4.cc
+internal/ceres/generated/partitioned_matrix_view_2_4_6.cc
 internal/ceres/generated/partitioned_matrix_view_2_4_8.cc
 internal/ceres/generated/partitioned_matrix_view_2_4_9.cc
 internal/ceres/generated/partitioned_matrix_view_2_4_d.cc
 internal/ceres/generated/partitioned_matrix_view_2_d_d.cc
+internal/ceres/generated/partitioned_matrix_view_3_3_3.cc
 internal/ceres/generated/partitioned_matrix_view_4_4_2.cc
 internal/ceres/generated/partitioned_matrix_view_4_4_3.cc
 internal/ceres/generated/partitioned_matrix_view_4_4_4.cc
@@ -138,17 +169,18 @@ internal/ceres/generated/schur_eliminator_2_3_9.cc
 internal/ceres/generated/schur_eliminator_2_3_d.cc
 internal/ceres/generated/schur_eliminator_2_4_3.cc
 internal/ceres/generated/schur_eliminator_2_4_4.cc
+internal/ceres/generated/schur_eliminator_2_4_6.cc
 internal/ceres/generated/schur_eliminator_2_4_8.cc
 internal/ceres/generated/schur_eliminator_2_4_9.cc
 internal/ceres/generated/schur_eliminator_2_4_d.cc
 internal/ceres/generated/schur_eliminator_2_d_d.cc
+internal/ceres/generated/schur_eliminator_3_3_3.cc
 internal/ceres/generated/schur_eliminator_4_4_2.cc
 internal/ceres/generated/schur_eliminator_4_4_3.cc
 internal/ceres/generated/schur_eliminator_4_4_4.cc
 internal/ceres/generated/schur_eliminator_4_4_d.cc
 internal/ceres/generated/schur_eliminator_d_d_d.cc
-internal/ceres/generate_eliminator_specialization.py
-internal/ceres/generate_partitioned_matrix_view_specializations.py
+internal/ceres/generate_template_specializations.py
 internal/ceres/gradient_checker.cc
 internal/ceres/gradient_checking_cost_function.cc
 internal/ceres/gradient_checking_cost_function.h
@@ -157,12 +189,15 @@ internal/ceres/gradient_problem_evaluator.h
 internal/ceres/gradient_problem_solver.cc
 internal/ceres/graph_algorithms.h
 internal/ceres/graph.h
-internal/ceres/householder_vector.h
 internal/ceres/implicit_schur_complement.cc
 internal/ceres/implicit_schur_complement.h
-internal/ceres/integral_types.h
+internal/ceres/inner_product_computer.cc
+internal/ceres/inner_product_computer.h
+internal/ceres/invert_psd_matrix.h
 internal/ceres/is_close.cc
 internal/ceres/is_close.h
+internal/ceres/iterative_refiner.cc
+internal/ceres/iterative_refiner.h
 internal/ceres/iterative_schur_complement_solver.cc
 internal/ceres/iterative_schur_complement_solver.h
 internal/ceres/lapack.cc
@@ -190,14 +225,21 @@ internal/ceres/low_rank_inverse_hessian.h
 internal/ceres/map_util.h
 internal/ceres/minimizer.cc
 internal/ceres/minimizer.h
-internal/ceres/mutex.h
 internal/ceres/normal_prior.cc
+internal/ceres/pair_hash.h
+internal/ceres/parallel_for_cxx.cc
+internal/ceres/parallel_for.h
+internal/ceres/parallel_for_nothreads.cc
+internal/ceres/parallel_for_openmp.cc
+internal/ceres/parallel_utils.cc
+internal/ceres/parallel_utils.h
 internal/ceres/parameter_block.h
 internal/ceres/parameter_block_ordering.cc
 internal/ceres/parameter_block_ordering.h
 internal/ceres/partitioned_matrix_view.cc
 internal/ceres/partitioned_matrix_view.h
 internal/ceres/partitioned_matrix_view_impl.h
+internal/ceres/partitioned_matrix_view_template.py
 internal/ceres/polynomial.cc
 internal/ceres/polynomial.h
 internal/ceres/preconditioner.cc
@@ -222,14 +264,23 @@ internal/ceres/schur_complement_solver.h
 internal/ceres/schur_eliminator.cc
 internal/ceres/schur_eliminator.h
 internal/ceres/schur_eliminator_impl.h
+internal/ceres/schur_eliminator_template.py
 internal/ceres/schur_jacobi_preconditioner.cc
 internal/ceres/schur_jacobi_preconditioner.h
+internal/ceres/schur_templates.cc
+internal/ceres/schur_templates.h
+internal/ceres/scoped_thread_token.h
 internal/ceres/scratch_evaluate_preparer.cc
 internal/ceres/scratch_evaluate_preparer.h
+internal/ceres/single_linkage_clustering.cc
+internal/ceres/single_linkage_clustering.h
+internal/ceres/small_blas_generic.h
 internal/ceres/small_blas.h
 internal/ceres/solver.cc
 internal/ceres/solver_utils.cc
 internal/ceres/solver_utils.h
+internal/ceres/sparse_cholesky.cc
+internal/ceres/sparse_cholesky.h
 internal/ceres/sparse_matrix.cc
 internal/ceres/sparse_matrix.h
 internal/ceres/sparse_normal_cholesky_solver.cc
@@ -239,7 +290,14 @@ internal/ceres/split.h
 internal/ceres/stl_util.h
 internal/ceres/stringprintf.cc
 internal/ceres/stringprintf.h
+internal/ceres/subset_preconditioner.cc
+internal/ceres/subset_preconditioner.h
+internal/ceres/suitesparse.cc
 internal/ceres/suitesparse.h
+internal/ceres/thread_pool.cc
+internal/ceres/thread_pool.h
+internal/ceres/thread_token_provider.cc
+internal/ceres/thread_token_provider.h
 internal/ceres/triplet_sparse_matrix.cc
 internal/ceres/triplet_sparse_matrix.h
 internal/ceres/trust_region_minimizer.cc
@@ -251,7 +309,10 @@ internal/ceres/trust_region_step_evaluator.h
 internal/ceres/trust_region_strategy.cc
 internal/ceres/trust_region_strategy.h
 internal/ceres/types.cc
+internal/ceres/visibility_based_preconditioner.cc
 internal/ceres/visibility_based_preconditioner.h
+internal/ceres/visibility.cc
+internal/ceres/visibility.h
 internal/ceres/wall_time.cc
 internal/ceres/wall_time.h
 config/ceres/internal/config.h

extern/ceres/include/ceres/autodiff_cost_function.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -30,7 +30,7 @@
 //
 // Create CostFunctions as needed by the least squares framework, with
 // Jacobians computed via automatic differentiation. For more
-// information on automatic differentation, see the wikipedia article
+// information on automatic differentiation, see the wikipedia article
 // at http://en.wikipedia.org/wiki/Automatic_differentiation
 //
 // To get an auto differentiated cost function, you must define a class with a
@@ -54,7 +54,7 @@
 // for a series of measurements, where there is an instance of the cost function
 // for each measurement k.
 //
-// The actual cost added to the total problem is e^2, or (k - x'k)^2; however,
+// The actual cost added to the total problem is e^2, or (k - x'y)^2; however,
 // the squaring is implicitly done by the optimization framework.
 //
 // To write an auto-differentiable cost function for the above model, first
@@ -90,7 +90,7 @@
 //                            Dimension of x ---------------+  |
 //                            Dimension of y ------------------+
 //
-// In this example, there is usually an instance for each measumerent of k.
+// In this example, there is usually an instance for each measurement of k.
 //
 // In the instantiation above, the template parameters following
 // "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing a
@@ -110,12 +110,8 @@
 //             Dimension of x ------------------------------------+  |
 //             Dimension of y ---------------------------------------+
 //
-// The framework can currently accommodate cost functions of up to 10
-// independent variables, and there is no limit on the dimensionality
-// of each of them.
-//
 // WARNING #1: Since the functor will get instantiated with different types for
-// T, you must to convert from other numeric types to T before mixing
+// T, you must convert from other numeric types to T before mixing
 // computations with other variables of type T. In the example above, this is
 // seen where instead of using k_ directly, k_ is wrapped with T(k_).
 //
@@ -129,8 +125,9 @@
 #ifndef CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
 #define CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
 
+#include <memory>
+
 #include "ceres/internal/autodiff.h"
-#include "ceres/internal/scoped_ptr.h"
 #include "ceres/sized_cost_function.h"
 #include "ceres/types.h"
 #include "glog/logging.h"
@@ -138,7 +135,7 @@
 namespace ceres {
 
 // A cost function which computes the derivative of the cost with respect to
-// the parameters (a.k.a. the jacobian) using an autodifferentiation framework.
+// the parameters (a.k.a. the jacobian) using an auto differentiation framework.
 // The first template argument is the functor object, described in the header
 // comment. The second argument is the dimension of the residual (or
 // ceres::DYNAMIC to indicate it will be set at runtime), and subsequent
@@ -153,27 +150,15 @@ namespace ceres {
 // of residuals for a single autodiff cost function at runtime.
 template <typename CostFunctor,
           int kNumResiduals,  // Number of residuals, or ceres::DYNAMIC.
-          int N0,       // Number of parameters in block 0.
-          int N1 = 0,   // Number of parameters in block 1.
-          int N2 = 0,   // Number of parameters in block 2.
-          int N3 = 0,   // Number of parameters in block 3.
-          int N4 = 0,   // Number of parameters in block 4.
-          int N5 = 0,   // Number of parameters in block 5.
-          int N6 = 0,   // Number of parameters in block 6.
-          int N7 = 0,   // Number of parameters in block 7.
-          int N8 = 0,   // Number of parameters in block 8.
-          int N9 = 0>   // Number of parameters in block 9.
-class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
-                                                      N0, N1, N2, N3, N4,
-                                                      N5, N6, N7, N8, N9> {
+          int... Ns>          // Number of parameters in each parameter block.
+class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals, Ns...> {
  public:
   // Takes ownership of functor. Uses the template-provided value for the
   // number of residuals ("kNumResiduals").
-  explicit AutoDiffCostFunction(CostFunctor* functor)
-      : functor_(functor) {
-    CHECK_NE(kNumResiduals, DYNAMIC)
-        << "Can't run the fixed-size constructor if the "
-        << "number of residuals is set to ceres::DYNAMIC.";
+  explicit AutoDiffCostFunction(CostFunctor* functor) : functor_(functor) {
+    static_assert(kNumResiduals != DYNAMIC,
+                  "Can't run the fixed-size constructor if the number of "
+                  "residuals is set to ceres::DYNAMIC.");
   }
 
   // Takes ownership of functor. Ignores the template-provided
@@ -183,13 +168,10 @@ class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
   // numbers of residuals at runtime.
   AutoDiffCostFunction(CostFunctor* functor, int num_residuals)
       : functor_(functor) {
-    CHECK_EQ(kNumResiduals, DYNAMIC)
-        << "Can't run the dynamic-size constructor if the "
-        << "number of residuals is not ceres::DYNAMIC.";
-    SizedCostFunction<kNumResiduals,
-                      N0, N1, N2, N3, N4,
-                      N5, N6, N7, N8, N9>
-        ::set_num_residuals(num_residuals);
+    static_assert(kNumResiduals == DYNAMIC,
+                  "Can't run the dynamic-size constructor if the number of "
+                  "residuals is not ceres::DYNAMIC.");
+    SizedCostFunction<kNumResiduals, Ns...>::set_num_residuals(num_residuals);
   }
 
   virtual ~AutoDiffCostFunction() {}
@@ -197,29 +179,28 @@ class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
   // Implementation details follow; clients of the autodiff cost function should
   // not have to examine below here.
   //
-  // To handle varardic cost functions, some template magic is needed. It's
+  // To handle variadic cost functions, some template magic is needed. It's
   // mostly hidden inside autodiff.h.
-  virtual bool Evaluate(double const* const* parameters,
-                        double* residuals,
-                        double** jacobians) const {
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const override {
+    using ParameterDims =
+        typename SizedCostFunction<kNumResiduals, Ns...>::ParameterDims;
+
     if (!jacobians) {
-      return internal::VariadicEvaluate<
-          CostFunctor, double, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
-          ::Call(*functor_, parameters, residuals);
+      return internal::VariadicEvaluate<ParameterDims>(
+          *functor_, parameters, residuals);
     }
-    return internal::AutoDiff<CostFunctor, double,
-           N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(
-               *functor_,
-               parameters,
-               SizedCostFunction<kNumResiduals,
-                                 N0, N1, N2, N3, N4,
-                                 N5, N6, N7, N8, N9>::num_residuals(),
-               residuals,
-               jacobians);
-  }
+    return internal::AutoDifferentiate<kNumResiduals, ParameterDims>(
+        *functor_,
+        parameters,
+        SizedCostFunction<kNumResiduals, Ns...>::num_residuals(),
+        residuals,
+        jacobians);
+  };
 
  private:
-  internal::scoped_ptr<CostFunctor> functor_;
+  std::unique_ptr<CostFunctor> functor_;
 };
 
 }  // namespace ceres

extern/ceres/include/ceres/autodiff_first_order_function.h

@@ -0,0 +1,151 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2019 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_AUTODIFF_FIRST_ORDER_FUNCTION_H_
+#define CERES_PUBLIC_AUTODIFF_FIRST_ORDER_FUNCTION_H_
+
+#include <memory>
+
+#include "ceres/first_order_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/jet.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+// Create FirstOrderFunctions as needed by the GradientProblem
+// framework, with gradients computed via automatic
+// differentiation. For more information on automatic differentiation,
+// see the wikipedia article at
+// http://en.wikipedia.org/wiki/Automatic_differentiation
+//
+// To get an auto differentiated function, you must define a class
+// with a templated operator() (a functor) that computes the cost
+// function in terms of the template parameter T. The autodiff
+// framework substitutes appropriate "jet" objects for T in order to
+// compute the derivative when necessary, but this is hidden, and you
+// should write the function as if T were a scalar type (e.g. a
+// double-precision floating point number).
+//
+// The function must write the computed value in the last argument
+// (the only non-const one) and return true to indicate
+// success.
+//
+// For example, consider a scalar error e = x'y - a, where both x and y are
+// two-dimensional column vector parameters, the prime sign indicates
+// transposition, and a is a constant.
+//
+// To write an auto-differentiable FirstOrderFunction for the above model, first
+// define the object
+//
+//  class QuadraticCostFunctor {
+//   public:
+//    explicit QuadraticCostFunctor(double a) : a_(a) {}
+//    template <typename T>
+//    bool operator()(const T* const xy, T* cost) const {
+//      const T* const x = xy;
+//      const T* const y = xy + 2;
+//      *cost = x[0] * y[0] + x[1] * y[1] - T(a_);
+//      return true;
+//    }
+//
+//   private:
+//    double a_;
+//  };
+//
+// Note that in the declaration of operator() the input parameters xy come
+// first, and are passed as const pointers to arrays of T. The
+// output is the last parameter.
+//
+// Then given this class definition, the auto differentiated FirstOrderFunction
+// for it can be constructed as follows.
+//
+//    FirstOrderFunction* function =
+//      new AutoDiffFirstOrderFunction<QuadraticCostFunctor, 4>(
+//          new QuadraticCostFunctor(1.0)));
+//
+// In the instantiation above, the template parameters following
+// "QuadraticCostFunctor", "4", describe the functor as computing a
+// 1-dimensional output from a four dimensional vector.
+//
+// WARNING: Since the functor will get instantiated with different types for
+// T, you must convert from other numeric types to T before mixing
+// computations with other variables of type T. In the example above, this is
+// seen where instead of using a_ directly, a_ is wrapped with T(a_).
+
+template <typename FirstOrderFunctor, int kNumParameters>
+class AutoDiffFirstOrderFunction : public FirstOrderFunction {
+ public:
+  // Takes ownership of functor.
+  explicit AutoDiffFirstOrderFunction(FirstOrderFunctor* functor)
+      : functor_(functor) {
+    static_assert(kNumParameters > 0, "kNumParameters must be positive");
+  }
+
+  virtual ~AutoDiffFirstOrderFunction() {}
+
+  bool Evaluate(const double* const parameters,
+                double* cost,
+                double* gradient) const override {
+    if (gradient == nullptr) {
+      return (*functor_)(parameters, cost);
+    }
+
+    typedef Jet<double, kNumParameters> JetT;
+    internal::FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(kNumParameters);
+    for (int i = 0; i < kNumParameters; ++i) {
+      x[i].a = parameters[i];
+      x[i].v.setZero();
+      x[i].v[i] = 1.0;
+    }
+
+    JetT output;
+    output.a = kImpossibleValue;
+    output.v.setConstant(kImpossibleValue);
+
+    if (!(*functor_)(x.data(), &output)) {
+      return false;
+    }
+
+    *cost = output.a;
+    VectorRef(gradient, kNumParameters) = output.v;
+    return true;
+  }
+
+  int NumParameters() const override { return kNumParameters; }
+
+ private:
+  std::unique_ptr<FirstOrderFunctor> functor_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_AUTODIFF_FIRST_ORDER_FUNCTION_H_

extern/ceres/include/ceres/autodiff_local_parameterization.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -33,9 +33,10 @@
 #ifndef CERES_PUBLIC_AUTODIFF_LOCAL_PARAMETERIZATION_H_
 #define CERES_PUBLIC_AUTODIFF_LOCAL_PARAMETERIZATION_H_
 
-#include "ceres/local_parameterization.h"
+#include <memory>
+
 #include "ceres/internal/autodiff.h"
-#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
 
 namespace ceres {
 
@@ -107,21 +108,20 @@ namespace ceres {
 template <typename Functor, int kGlobalSize, int kLocalSize>
 class AutoDiffLocalParameterization : public LocalParameterization {
  public:
-  AutoDiffLocalParameterization() :
-      functor_(new Functor()) {}
+  AutoDiffLocalParameterization() : functor_(new Functor()) {}
 
   // Takes ownership of functor.
-  explicit AutoDiffLocalParameterization(Functor* functor) :
-      functor_(functor) {}
+  explicit AutoDiffLocalParameterization(Functor* functor)
+      : functor_(functor) {}
 
   virtual ~AutoDiffLocalParameterization() {}
-  virtual bool Plus(const double* x,
-                    const double* delta,
-                    double* x_plus_delta) const {
+  bool Plus(const double* x,
+            const double* delta,
+            double* x_plus_delta) const override {
     return (*functor_)(x, delta, x_plus_delta);
   }
 
-  virtual bool ComputeJacobian(const double* x, double* jacobian) const {
+  bool ComputeJacobian(const double* x, double* jacobian) const override {
     double zero_delta[kLocalSize];
     for (int i = 0; i < kLocalSize; ++i) {
       zero_delta[i] = 0.0;
@@ -133,20 +133,18 @@ class AutoDiffLocalParameterization : public LocalParameterization {
     }
 
     const double* parameter_ptrs[2] = {x, zero_delta};
-    double* jacobian_ptrs[2] = { NULL, jacobian };
-    return internal::AutoDiff<Functor, double, kGlobalSize, kLocalSize>
-        ::Differentiate(*functor_,
-                        parameter_ptrs,
-                        kGlobalSize,
-                        x_plus_delta,
-                        jacobian_ptrs);
+    double* jacobian_ptrs[2] = {NULL, jacobian};
+    return internal::AutoDifferentiate<
+        kGlobalSize,
+        internal::StaticParameterDims<kGlobalSize, kLocalSize>>(
+        *functor_, parameter_ptrs, kGlobalSize, x_plus_delta, jacobian_ptrs);
   }
 
-  virtual int GlobalSize() const { return kGlobalSize; }
-  virtual int LocalSize() const { return kLocalSize; }
+  int GlobalSize() const override { return kGlobalSize; }
+  int LocalSize() const override { return kLocalSize; }
 
  private:
-  internal::scoped_ptr<Functor> functor_;
+  std::unique_ptr<Functor> functor_;
 };
 
 }  // namespace ceres

extern/ceres/include/ceres/c_api.h

@@ -1,5 +1,5 @@
 /* Ceres Solver - A fast non-linear least squares minimizer
- * Copyright 2015 Google Inc. All rights reserved.
+ * Copyright 2019 Google Inc. All rights reserved.
  * http://ceres-solver.org/
  *
  * Redistribution and use in source and binary forms, with or without
@@ -143,4 +143,4 @@ CERES_EXPORT void ceres_solve(ceres_problem_t* problem);
 
 #include "ceres/internal/reenable_warnings.h"
 
-#endif  /* CERES_PUBLIC_C_API_H_ */
+#endif /* CERES_PUBLIC_C_API_H_ */

extern/ceres/include/ceres/ceres.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -36,12 +36,18 @@
 
 #include "ceres/autodiff_cost_function.h"
 #include "ceres/autodiff_local_parameterization.h"
+#include "ceres/conditioned_cost_function.h"
+#include "ceres/context.h"
 #include "ceres/cost_function.h"
 #include "ceres/cost_function_to_functor.h"
 #include "ceres/covariance.h"
 #include "ceres/crs_matrix.h"
 #include "ceres/dynamic_autodiff_cost_function.h"
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/dynamic_cost_function_to_functor.h"
 #include "ceres/dynamic_numeric_diff_cost_function.h"
+#include "ceres/evaluation_callback.h"
+#include "ceres/gradient_checker.h"
 #include "ceres/gradient_problem.h"
 #include "ceres/gradient_problem_solver.h"
 #include "ceres/iteration_callback.h"
@@ -49,6 +55,7 @@
 #include "ceres/local_parameterization.h"
 #include "ceres/loss_function.h"
 #include "ceres/numeric_diff_cost_function.h"
+#include "ceres/numeric_diff_options.h"
 #include "ceres/ordered_groups.h"
 #include "ceres/problem.h"
 #include "ceres/sized_cost_function.h"

extern/ceres/include/ceres/conditioned_cost_function.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -34,12 +34,12 @@
 #ifndef CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
 #define CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
 
+#include <memory>
 #include <vector>
 
 #include "ceres/cost_function.h"
-#include "ceres/internal/scoped_ptr.h"
-#include "ceres/types.h"
 #include "ceres/internal/disable_warnings.h"
+#include "ceres/types.h"
 
 namespace ceres {
 
@@ -77,17 +77,19 @@ class CERES_EXPORT ConditionedCostFunction : public CostFunction {
   // per-residual conditioner. Takes ownership of all of the wrapped cost
   // functions, or not, depending on the ownership parameter. Conditioners
   // may be NULL, in which case the corresponding residual is not modified.
+  //
+  // The conditioners can repeat.
   ConditionedCostFunction(CostFunction* wrapped_cost_function,
                           const std::vector<CostFunction*>& conditioners,
                           Ownership ownership);
   virtual ~ConditionedCostFunction();
 
-  virtual bool Evaluate(double const* const* parameters,
-                        double* residuals,
-                        double** jacobians) const;
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const override;
 
  private:
-  internal::scoped_ptr<CostFunction> wrapped_cost_function_;
+  std::unique_ptr<CostFunction> wrapped_cost_function_;
   std::vector<CostFunction*> conditioners_;
   Ownership ownership_;
 };

extern/ceres/include/ceres/context.h

@@ -0,0 +1,56 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2019 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vitus@google.com (Michael Vitus)
+
+#ifndef CERES_PUBLIC_CONTEXT_H_
+#define CERES_PUBLIC_CONTEXT_H_
+
+namespace ceres {
+
+// A global context for processing data in Ceres.  This provides a mechanism to
+// allow Ceres to reuse items that are expensive to create between multiple
+// calls; for example, thread pools.  The same Context can be used on multiple
+// Problems, either serially or in parallel. When using it with multiple
+// Problems at the same time, they may end up contending for resources
+// (e.g. threads) managed by the Context.
+class Context {
+ public:
+  Context() {}
+  Context(const Context&) = delete;
+  void operator=(const Context&) = delete;
+
+  virtual ~Context() {}
+
+  // Creates a context object and the caller takes ownership.
+  static Context* Create();
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_CONTEXT_H_

extern/ceres/include/ceres/cost_function.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -44,18 +44,18 @@
 #ifndef CERES_PUBLIC_COST_FUNCTION_H_
 #define CERES_PUBLIC_COST_FUNCTION_H_
 
+#include <cstdint>
 #include <vector>
-#include "ceres/internal/macros.h"
-#include "ceres/internal/port.h"
-#include "ceres/types.h"
+
 #include "ceres/internal/disable_warnings.h"
+#include "ceres/internal/port.h"
 
 namespace ceres {
 
 // This class implements the computation of the cost (a.k.a. residual) terms as
 // a function of the input (control) variables, and is the interface for users
 // to describe their least squares problem to Ceres. In other words, this is the
-// modelling layer between users and the Ceres optimizer. The signature of the
+// modeling layer between users and the Ceres optimizer. The signature of the
 // function (number and sizes of input parameter blocks and number of outputs)
 // is stored in parameter_block_sizes_ and num_residuals_ respectively. User
 // code inheriting from this class is expected to set these two members with the
@@ -64,6 +64,8 @@ namespace ceres {
 class CERES_EXPORT CostFunction {
  public:
   CostFunction() : num_residuals_(0) {}
+  CostFunction(const CostFunction&) = delete;
+  void operator=(const CostFunction&) = delete;
 
   virtual ~CostFunction() {}
 
@@ -115,29 +117,24 @@ class CERES_EXPORT CostFunction {
                         double* residuals,
                         double** jacobians) const = 0;
 
-  const std::vector<int32>& parameter_block_sizes() const {
+  const std::vector<int32_t>& parameter_block_sizes() const {
     return parameter_block_sizes_;
   }
 
-  int num_residuals() const {
-    return num_residuals_;
-  }
+  int num_residuals() const { return num_residuals_; }
 
  protected:
-  std::vector<int32>* mutable_parameter_block_sizes() {
+  std::vector<int32_t>* mutable_parameter_block_sizes() {
     return &parameter_block_sizes_;
   }
 
-  void set_num_residuals(int num_residuals) {
-    num_residuals_ = num_residuals;
-  }
+  void set_num_residuals(int num_residuals) { num_residuals_ = num_residuals; }
 
  private:
   // Cost function signature metadata: number of inputs & their sizes,
   // number of outputs (residuals).
-  std::vector<int32> parameter_block_sizes_;
+  std::vector<int32_t> parameter_block_sizes_;
   int num_residuals_;
-  CERES_DISALLOW_COPY_AND_ASSIGN(CostFunction);
 };
 
 }  // namespace ceres

extern/ceres/include/ceres/cost_function_to_functor.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -30,7 +30,7 @@
 //
 // CostFunctionToFunctor is an adapter class that allows users to use
 // SizedCostFunction objects in templated functors which are to be used for
-// automatic differentiation.  This allows the user to seamlessly mix
+// automatic differentiation. This allows the user to seamlessly mix
 // analytic, numeric and automatic differentiation.
 //
 // For example, let us assume that
@@ -38,16 +38,15 @@
 //  class IntrinsicProjection : public SizedCostFunction<2, 5, 3> {
 //    public:
 //      IntrinsicProjection(const double* observation);
-//      virtual bool Evaluate(double const* const* parameters,
-//                            double* residuals,
-//                            double** jacobians) const;
+//      bool Evaluate(double const* const* parameters,
+//                    double* residuals,
+//                    double** jacobians) const override;
 //  };
 //
 // is a cost function that implements the projection of a point in its
 // local coordinate system onto its image plane and subtracts it from
 // the observed point projection. It can compute its residual and
-// either via analytic or numerical differentiation can compute its
-// jacobians.
+// jacobians either via analytic or numerical differentiation.
 //
 // Now we would like to compose the action of this CostFunction with
 // the action of camera extrinsics, i.e., rotation and
@@ -87,594 +86,83 @@
 #ifndef CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
 #define CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
 
+#include <cstdint>
 #include <numeric>
+#include <tuple>
+#include <utility>
 #include <vector>
 
 #include "ceres/cost_function.h"
 #include "ceres/dynamic_cost_function_to_functor.h"
 #include "ceres/internal/fixed_array.h"
+#include "ceres/internal/parameter_dims.h"
 #include "ceres/internal/port.h"
-#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
 
 namespace ceres {
 
-template <int kNumResiduals,
-          int N0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
-          int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+template <int kNumResiduals, int... Ns>
 class CostFunctionToFunctor {
  public:
   // Takes ownership of cost_function.
   explicit CostFunctionToFunctor(CostFunction* cost_function)
       : cost_functor_(cost_function) {
-    CHECK_NOTNULL(cost_function);
+    CHECK(cost_function != nullptr);
     CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC);
 
-    // This block breaks the 80 column rule to keep it somewhat readable.
-    CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
-          ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
-          ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                                    // NOLINT
-          ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                               // NOLINT
-          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||                          // NOLINT
-          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||                     // NOLINT
-          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||                // NOLINT
-          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||           // NOLINT
-          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||      // NOLINT
-          ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))   // NOLINT
-        << "Zero block cannot precede a non-zero block. Block sizes are "
-        << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
-        << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
-        << N8 << ", " << N9;
-
-    const std::vector<int32>& parameter_block_sizes =
+    const std::vector<int32_t>& parameter_block_sizes =
         cost_function->parameter_block_sizes();
-    const int num_parameter_blocks =
-        (N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) +
-        (N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0);
+    const int num_parameter_blocks = ParameterDims::kNumParameterBlocks;
     CHECK_EQ(static_cast<int>(parameter_block_sizes.size()),
              num_parameter_blocks);
 
-    CHECK_EQ(N0, parameter_block_sizes[0]);
-    if (parameter_block_sizes.size() > 1) CHECK_EQ(N1, parameter_block_sizes[1]);  // NOLINT
-    if (parameter_block_sizes.size() > 2) CHECK_EQ(N2, parameter_block_sizes[2]);  // NOLINT
-    if (parameter_block_sizes.size() > 3) CHECK_EQ(N3, parameter_block_sizes[3]);  // NOLINT
-    if (parameter_block_sizes.size() > 4) CHECK_EQ(N4, parameter_block_sizes[4]);  // NOLINT
-    if (parameter_block_sizes.size() > 5) CHECK_EQ(N5, parameter_block_sizes[5]);  // NOLINT
-    if (parameter_block_sizes.size() > 6) CHECK_EQ(N6, parameter_block_sizes[6]);  // NOLINT
-    if (parameter_block_sizes.size() > 7) CHECK_EQ(N7, parameter_block_sizes[7]);  // NOLINT
-    if (parameter_block_sizes.size() > 8) CHECK_EQ(N8, parameter_block_sizes[8]);  // NOLINT
-    if (parameter_block_sizes.size() > 9) CHECK_EQ(N9, parameter_block_sizes[9]);  // NOLINT
+    if (parameter_block_sizes.size() == num_parameter_blocks) {
+      for (int block = 0; block < num_parameter_blocks; ++block) {
+        CHECK_EQ(ParameterDims::GetDim(block), parameter_block_sizes[block])
+            << "Parameter block size missmatch. The specified static parameter "
+               "block dimension does not match the one from the cost function.";
+      }
+    }
 
-    CHECK_EQ(accumulate(parameter_block_sizes.begin(),
-                        parameter_block_sizes.end(), 0),
-             N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9);
+    CHECK_EQ(accumulate(
+                 parameter_block_sizes.begin(), parameter_block_sizes.end(), 0),
+             ParameterDims::kNumParameters);
   }
 
-  bool operator()(const double* x0, double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_EQ(N1, 0);
-    CHECK_EQ(N2, 0);
-    CHECK_EQ(N3, 0);
-    CHECK_EQ(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
+  template <typename T, typename... Ts>
+  bool operator()(const T* p1, Ts*... ps) const {
+    // Add one because of residual block.
+    static_assert(sizeof...(Ts) + 1 == ParameterDims::kNumParameterBlocks + 1,
+                  "Invalid number of parameter blocks specified.");
 
-    return cost_functor_(&x0, residuals);
-  }
+    auto params = std::make_tuple(p1, ps...);
 
-  bool operator()(const double* x0,
-                  const double* x1,
-                  double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_EQ(N2, 0);
-    CHECK_EQ(N3, 0);
-    CHECK_EQ(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const double*> parameter_blocks(2);
-    parameter_blocks[0] = x0;
-    parameter_blocks[1] = x1;
-    return cost_functor_(parameter_blocks.get(), residuals);
-  }
+    // Extract residual pointer from params. The residual pointer is the
+    // last pointer.
+    constexpr int kResidualIndex = ParameterDims::kNumParameterBlocks;
+    T* residuals = std::get<kResidualIndex>(params);
 
-  bool operator()(const double* x0,
-                  const double* x1,
-                  const double* x2,
-                  double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_EQ(N3, 0);
-    CHECK_EQ(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const double*> parameter_blocks(3);
-    parameter_blocks[0] = x0;
-    parameter_blocks[1] = x1;
-    parameter_blocks[2] = x2;
-    return cost_functor_(parameter_blocks.get(), residuals);
-  }
+    // Extract parameter block pointers from params.
+    using Indices =
+        std::make_integer_sequence<int,
+                                   ParameterDims::kNumParameterBlocks>;
+    std::array<const T*, ParameterDims::kNumParameterBlocks> parameter_blocks =
+        GetParameterPointers<T>(params, Indices());
 
-  bool operator()(const double* x0,
-                  const double* x1,
-                  const double* x2,
-                  const double* x3,
-                  double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_EQ(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const double*> parameter_blocks(4);
-    parameter_blocks[0] = x0;
-    parameter_blocks[1] = x1;
-    parameter_blocks[2] = x2;
-    parameter_blocks[3] = x3;
-    return cost_functor_(parameter_blocks.get(), residuals);
-  }
-
-  bool operator()(const double* x0,
-                  const double* x1,
-                  const double* x2,
-                  const double* x3,
-                  const double* x4,
-                  double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const double*> parameter_blocks(5);
-    parameter_blocks[0] = x0;
-    parameter_blocks[1] = x1;
-    parameter_blocks[2] = x2;
-    parameter_blocks[3] = x3;
-    parameter_blocks[4] = x4;
-    return cost_functor_(parameter_blocks.get(), residuals);
-  }
-
-  bool operator()(const double* x0,
-                  const double* x1,
-                  const double* x2,
-                  const double* x3,
-                  const double* x4,
-                  const double* x5,
-                  double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const double*> parameter_blocks(6);
-    parameter_blocks[0] = x0;
-    parameter_blocks[1] = x1;
-    parameter_blocks[2] = x2;
-    parameter_blocks[3] = x3;
-    parameter_blocks[4] = x4;
-    parameter_blocks[5] = x5;
-    return cost_functor_(parameter_blocks.get(), residuals);
-  }
-
-  bool operator()(const double* x0,
-                  const double* x1,
-                  const double* x2,
-                  const double* x3,
-                  const double* x4,
-                  const double* x5,
-                  const double* x6,
-                  double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_NE(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const double*> parameter_blocks(7);
-    parameter_blocks[0] = x0;
-    parameter_blocks[1] = x1;
-    parameter_blocks[2] = x2;
-    parameter_blocks[3] = x3;
-    parameter_blocks[4] = x4;
-    parameter_blocks[5] = x5;
-    parameter_blocks[6] = x6;
-    return cost_functor_(parameter_blocks.get(), residuals);
-  }
-
-  bool operator()(const double* x0,
-                  const double* x1,
-                  const double* x2,
-                  const double* x3,
-                  const double* x4,
-                  const double* x5,
-                  const double* x6,
-                  const double* x7,
-                  double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_NE(N6, 0);
-    CHECK_NE(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const double*> parameter_blocks(8);
-    parameter_blocks[0] = x0;
-    parameter_blocks[1] = x1;
-    parameter_blocks[2] = x2;
-    parameter_blocks[3] = x3;
-    parameter_blocks[4] = x4;
-    parameter_blocks[5] = x5;
-    parameter_blocks[6] = x6;
-    parameter_blocks[7] = x7;
-    return cost_functor_(parameter_blocks.get(), residuals);
-  }
-
-  bool operator()(const double* x0,
-                  const double* x1,
-                  const double* x2,
-                  const double* x3,
-                  const double* x4,
-                  const double* x5,
-                  const double* x6,
-                  const double* x7,
-                  const double* x8,
-                  double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_NE(N6, 0);
-    CHECK_NE(N7, 0);
-    CHECK_NE(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const double*> parameter_blocks(9);
-    parameter_blocks[0] = x0;
-    parameter_blocks[1] = x1;
-    parameter_blocks[2] = x2;
-    parameter_blocks[3] = x3;
-    parameter_blocks[4] = x4;
-    parameter_blocks[5] = x5;
-    parameter_blocks[6] = x6;
-    parameter_blocks[7] = x7;
-    parameter_blocks[8] = x8;
-    return cost_functor_(parameter_blocks.get(), residuals);
-  }
-
-  bool operator()(const double* x0,
-                  const double* x1,
-                  const double* x2,
-                  const double* x3,
-                  const double* x4,
-                  const double* x5,
-                  const double* x6,
-                  const double* x7,
-                  const double* x8,
-                  const double* x9,
-                  double* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_NE(N6, 0);
-    CHECK_NE(N7, 0);
-    CHECK_NE(N8, 0);
-    CHECK_NE(N9, 0);
-    internal::FixedArray<const double*> parameter_blocks(10);
-    parameter_blocks[0] = x0;
-    parameter_blocks[1] = x1;
-    parameter_blocks[2] = x2;
-    parameter_blocks[3] = x3;
-    parameter_blocks[4] = x4;
-    parameter_blocks[5] = x5;
-    parameter_blocks[6] = x6;
-    parameter_blocks[7] = x7;
-    parameter_blocks[8] = x8;
-    parameter_blocks[9] = x9;
-    return cost_functor_(parameter_blocks.get(), residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0, JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_EQ(N1, 0);
-    CHECK_EQ(N2, 0);
-    CHECK_EQ(N3, 0);
-    CHECK_EQ(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    return cost_functor_(&x0, residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0,
-                  const JetT* x1,
-                  JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_EQ(N2, 0);
-    CHECK_EQ(N3, 0);
-    CHECK_EQ(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const JetT*> jets(2);
-    jets[0] = x0;
-    jets[1] = x1;
-    return cost_functor_(jets.get(), residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0,
-                  const JetT* x1,
-                  const JetT* x2,
-                  JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_EQ(N3, 0);
-    CHECK_EQ(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const JetT*> jets(3);
-    jets[0] = x0;
-    jets[1] = x1;
-    jets[2] = x2;
-    return cost_functor_(jets.get(), residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0,
-                  const JetT* x1,
-                  const JetT* x2,
-                  const JetT* x3,
-                  JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_EQ(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const JetT*> jets(4);
-    jets[0] = x0;
-    jets[1] = x1;
-    jets[2] = x2;
-    jets[3] = x3;
-    return cost_functor_(jets.get(), residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0,
-                  const JetT* x1,
-                  const JetT* x2,
-                  const JetT* x3,
-                  const JetT* x4,
-                  JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_EQ(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const JetT*> jets(5);
-    jets[0] = x0;
-    jets[1] = x1;
-    jets[2] = x2;
-    jets[3] = x3;
-    jets[4] = x4;
-    return cost_functor_(jets.get(), residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0,
-                  const JetT* x1,
-                  const JetT* x2,
-                  const JetT* x3,
-                  const JetT* x4,
-                  const JetT* x5,
-                  JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_EQ(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const JetT*> jets(6);
-    jets[0] = x0;
-    jets[1] = x1;
-    jets[2] = x2;
-    jets[3] = x3;
-    jets[4] = x4;
-    jets[5] = x5;
-    return cost_functor_(jets.get(), residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0,
-                  const JetT* x1,
-                  const JetT* x2,
-                  const JetT* x3,
-                  const JetT* x4,
-                  const JetT* x5,
-                  const JetT* x6,
-                  JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_NE(N6, 0);
-    CHECK_EQ(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const JetT*> jets(7);
-    jets[0] = x0;
-    jets[1] = x1;
-    jets[2] = x2;
-    jets[3] = x3;
-    jets[4] = x4;
-    jets[5] = x5;
-    jets[6] = x6;
-    return cost_functor_(jets.get(), residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0,
-                  const JetT* x1,
-                  const JetT* x2,
-                  const JetT* x3,
-                  const JetT* x4,
-                  const JetT* x5,
-                  const JetT* x6,
-                  const JetT* x7,
-                  JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_NE(N6, 0);
-    CHECK_NE(N7, 0);
-    CHECK_EQ(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const JetT*> jets(8);
-    jets[0] = x0;
-    jets[1] = x1;
-    jets[2] = x2;
-    jets[3] = x3;
-    jets[4] = x4;
-    jets[5] = x5;
-    jets[6] = x6;
-    jets[7] = x7;
-    return cost_functor_(jets.get(), residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0,
-                  const JetT* x1,
-                  const JetT* x2,
-                  const JetT* x3,
-                  const JetT* x4,
-                  const JetT* x5,
-                  const JetT* x6,
-                  const JetT* x7,
-                  const JetT* x8,
-                  JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_NE(N6, 0);
-    CHECK_NE(N7, 0);
-    CHECK_NE(N8, 0);
-    CHECK_EQ(N9, 0);
-    internal::FixedArray<const JetT*> jets(9);
-    jets[0] = x0;
-    jets[1] = x1;
-    jets[2] = x2;
-    jets[3] = x3;
-    jets[4] = x4;
-    jets[5] = x5;
-    jets[6] = x6;
-    jets[7] = x7;
-    jets[8] = x8;
-    return cost_functor_(jets.get(), residuals);
-  }
-
-  template <typename JetT>
-  bool operator()(const JetT* x0,
-                  const JetT* x1,
-                  const JetT* x2,
-                  const JetT* x3,
-                  const JetT* x4,
-                  const JetT* x5,
-                  const JetT* x6,
-                  const JetT* x7,
-                  const JetT* x8,
-                  const JetT* x9,
-                  JetT* residuals) const {
-    CHECK_NE(N0, 0);
-    CHECK_NE(N1, 0);
-    CHECK_NE(N2, 0);
-    CHECK_NE(N3, 0);
-    CHECK_NE(N4, 0);
-    CHECK_NE(N5, 0);
-    CHECK_NE(N6, 0);
-    CHECK_NE(N7, 0);
-    CHECK_NE(N8, 0);
-    CHECK_NE(N9, 0);
-    internal::FixedArray<const JetT*> jets(10);
-    jets[0] = x0;
-    jets[1] = x1;
-    jets[2] = x2;
-    jets[3] = x3;
-    jets[4] = x4;
-    jets[5] = x5;
-    jets[6] = x6;
-    jets[7] = x7;
-    jets[8] = x8;
-    jets[9] = x9;
-    return cost_functor_(jets.get(), residuals);
+    return cost_functor_(parameter_blocks.data(), residuals);
   }
 
  private:
+  using ParameterDims = internal::StaticParameterDims<Ns...>;
+
+  template <typename T, typename Tuple, int... Indices>
+  static std::array<const T*, ParameterDims::kNumParameterBlocks>
+  GetParameterPointers(const Tuple& paramPointers,
+                       std::integer_sequence<int, Indices...>) {
+    return std::array<const T*, ParameterDims::kNumParameterBlocks>{
+        {std::get<Indices>(paramPointers)...}};
+  }
+
   DynamicCostFunctionToFunctor cost_functor_;
 };
 

extern/ceres/include/ceres/covariance.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -31,12 +31,13 @@
 #ifndef CERES_PUBLIC_COVARIANCE_H_
 #define CERES_PUBLIC_COVARIANCE_H_
 
+#include <memory>
 #include <utility>
 #include <vector>
-#include "ceres/internal/port.h"
-#include "ceres/internal/scoped_ptr.h"
-#include "ceres/types.h"
+
 #include "ceres/internal/disable_warnings.h"
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
 
 namespace ceres {
 
@@ -60,7 +61,7 @@ class CovarianceImpl;
 // Background
 // ==========
 // One way to assess the quality of the solution returned by a
-// non-linear least squares solve is to analyze the covariance of the
+// non-linear least squares solver is to analyze the covariance of the
 // solution.
 //
 // Let us consider the non-linear regression problem
@@ -158,7 +159,7 @@ class CovarianceImpl;
 // Gauge Invariance
 // ----------------
 // In structure from motion (3D reconstruction) problems, the
-// reconstruction is ambiguous upto a similarity transform. This is
+// reconstruction is ambiguous up to a similarity transform. This is
 // known as a Gauge Ambiguity. Handling Gauges correctly requires the
 // use of SVD or custom inversion algorithms. For small problems the
 // user can use the dense algorithm. For more details see
@@ -183,7 +184,7 @@ class CovarianceImpl;
 //  Covariance::Options options;
 //  Covariance covariance(options);
 //
-//  std::vector<std::pair<const double*, const double*> > covariance_blocks;
+//  std::vector<std::pair<const double*, const double*>> covariance_blocks;
 //  covariance_blocks.push_back(make_pair(x, x));
 //  covariance_blocks.push_back(make_pair(y, y));
 //  covariance_blocks.push_back(make_pair(x, y));
@@ -200,19 +201,19 @@ class CovarianceImpl;
 class CERES_EXPORT Covariance {
  public:
   struct CERES_EXPORT Options {
-    Options()
-#ifndef CERES_NO_SUITESPARSE
-        : algorithm_type(SUITE_SPARSE_QR),
+    // Sparse linear algebra library to use when a sparse matrix
+    // factorization is being used to compute the covariance matrix.
+    //
+    // Currently this only applies to SPARSE_QR.
+    SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type =
+#if !defined(CERES_NO_SUITESPARSE)
+        SUITE_SPARSE;
 #else
-        : algorithm_type(EIGEN_SPARSE_QR),
+        // Eigen's QR factorization is always available.
+        EIGEN_SPARSE;
 #endif
-          min_reciprocal_condition_number(1e-14),
-          null_space_rank(0),
-          num_threads(1),
-          apply_loss_function(true) {
-    }
 
-    // Ceres supports three different algorithms for covariance
+    // Ceres supports two different algorithms for covariance
     // estimation, which represent different tradeoffs in speed,
     // accuracy and reliability.
     //
@@ -229,23 +230,20 @@ class CERES_EXPORT Covariance {
     //    for small to moderate sized problems. It can handle
     //    full-rank as well as rank deficient Jacobians.
     //
-    // 2. EIGEN_SPARSE_QR uses the sparse QR factorization algorithm
-    //    in Eigen to compute the decomposition
+    // 2. SPARSE_QR uses the sparse QR factorization algorithm
+    //    to compute the decomposition
     //
     //      Q * R = J
     //
     //    [J'J]^-1 = [R*R']^-1
     //
-    //    It is a moderately fast algorithm for sparse matrices.
-    //
-    // 3. SUITE_SPARSE_QR uses the SuiteSparseQR sparse QR
-    //    factorization algorithm. It uses dense linear algebra and is
-    //    multi threaded, so for large sparse sparse matrices it is
-    //    significantly faster than EIGEN_SPARSE_QR.
-    //
-    // Neither EIGEN_SPARSE_QR not SUITE_SPARSE_QR are capable of
-    // computing the covariance if the Jacobian is rank deficient.
-    CovarianceAlgorithmType algorithm_type;
+    // SPARSE_QR is not capable of computing the covariance if the
+    // Jacobian is rank deficient. Depending on the value of
+    // Covariance::Options::sparse_linear_algebra_library_type, either
+    // Eigen's Sparse QR factorization algorithm will be used or
+    // SuiteSparse's high performance SuiteSparseQR algorithm will be
+    // used.
+    CovarianceAlgorithmType algorithm_type = SPARSE_QR;
 
     // If the Jacobian matrix is near singular, then inverting J'J
     // will result in unreliable results, e.g, if
@@ -270,7 +268,7 @@ class CERES_EXPORT Covariance {
     //    where min_sigma and max_sigma are the minimum and maxiumum
     //    singular values of J respectively.
     //
-    // 2. SUITE_SPARSE_QR and EIGEN_SPARSE_QR
+    // 2. SPARSE_QR
     //
     //      rank(J) < num_col(J)
     //
@@ -278,7 +276,7 @@ class CERES_EXPORT Covariance {
     //   sparse QR factorization algorithm. It is a fairly reliable
     //   indication of rank deficiency.
     //
-    double min_reciprocal_condition_number;
+    double min_reciprocal_condition_number = 1e-14;
 
     // When using DENSE_SVD, the user has more control in dealing with
     // singular and near singular covariance matrices.
@@ -313,9 +311,9 @@ class CERES_EXPORT Covariance {
     //
     // This option has no effect on the SUITE_SPARSE_QR and
     // EIGEN_SPARSE_QR algorithms.
-    int null_space_rank;
+    int null_space_rank = 0;
 
-    int num_threads;
+    int num_threads = 1;
 
     // Even though the residual blocks in the problem may contain loss
     // functions, setting apply_loss_function to false will turn off
@@ -323,7 +321,7 @@ class CERES_EXPORT Covariance {
     // function and in turn its effect on the covariance.
     //
     // TODO(sameergaarwal): Expand this based on Jim's experiments.
-    bool apply_loss_function;
+    bool apply_loss_function = true;
   };
 
   explicit Covariance(const Options& options);
@@ -352,10 +350,9 @@ class CERES_EXPORT Covariance {
   // covariance computation. Please see the documentation for
   // Covariance::Options for more on the conditions under which this
   // function returns false.
-  bool Compute(
-      const std::vector<std::pair<const double*,
-                                  const double*> >& covariance_blocks,
-      Problem* problem);
+  bool Compute(const std::vector<std::pair<const double*, const double*>>&
+                   covariance_blocks,
+               Problem* problem);
 
   // Compute a part of the covariance matrix.
   //
@@ -428,8 +425,8 @@ class CERES_EXPORT Covariance {
   // a square matrix whose row and column count is equal to the sum of
   // the sizes of the individual parameter blocks. The covariance
   // matrix will be a row-major matrix.
-  bool GetCovarianceMatrix(const std::vector<const double *> &parameter_blocks,
-                           double *covariance_matrix);
+  bool GetCovarianceMatrix(const std::vector<const double*>& parameter_blocks,
+                           double* covariance_matrix) const;
 
   // Return the covariance matrix corresponding to parameter_blocks
   // in the tangent space if a local parameterization is associated
@@ -448,10 +445,10 @@ class CERES_EXPORT Covariance {
   // blocks. The covariance matrix will be a row-major matrix.
   bool GetCovarianceMatrixInTangentSpace(
       const std::vector<const double*>& parameter_blocks,
-      double* covariance_matrix);
+      double* covariance_matrix) const;
 
  private:
-  internal::scoped_ptr<internal::CovarianceImpl> impl_;
+  std::unique_ptr<internal::CovarianceImpl> impl_;
 };
 
 }  // namespace ceres

extern/ceres/include/ceres/crs_matrix.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -32,8 +32,9 @@
 #define CERES_PUBLIC_CRS_MATRIX_H_
 
 #include <vector>
-#include "ceres/internal/port.h"
+
 #include "ceres/internal/disable_warnings.h"
+#include "ceres/internal/port.h"
 
 namespace ceres {
 

extern/ceres/include/ceres/cubic_interpolation.h

@@ -0,0 +1,436 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2019 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_CUBIC_INTERPOLATION_H_
+#define CERES_PUBLIC_CUBIC_INTERPOLATION_H_
+
+#include "Eigen/Core"
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// Given samples from a function sampled at four equally spaced points,
+//
+//   p0 = f(-1)
+//   p1 = f(0)
+//   p2 = f(1)
+//   p3 = f(2)
+//
+// Evaluate the cubic Hermite spline (also known as the Catmull-Rom
+// spline) at a point x that lies in the interval [0, 1].
+//
+// This is also the interpolation kernel (for the case of a = 0.5) as
+// proposed by R. Keys, in:
+//
+// "Cubic convolution interpolation for digital image processing".
+// IEEE Transactions on Acoustics, Speech, and Signal Processing
+// 29 (6): 1153-1160.
+//
+// For more details see
+//
+// http://en.wikipedia.org/wiki/Cubic_Hermite_spline
+// http://en.wikipedia.org/wiki/Bicubic_interpolation
+//
+// f if not NULL will contain the interpolated function values.
+// dfdx if not NULL will contain the interpolated derivative values.
+template <int kDataDimension>
+void CubicHermiteSpline(const Eigen::Matrix<double, kDataDimension, 1>& p0,
+                        const Eigen::Matrix<double, kDataDimension, 1>& p1,
+                        const Eigen::Matrix<double, kDataDimension, 1>& p2,
+                        const Eigen::Matrix<double, kDataDimension, 1>& p3,
+                        const double x,
+                        double* f,
+                        double* dfdx) {
+  typedef Eigen::Matrix<double, kDataDimension, 1> VType;
+  const VType a = 0.5 * (-p0 + 3.0 * p1 - 3.0 * p2 + p3);
+  const VType b = 0.5 * (2.0 * p0 - 5.0 * p1 + 4.0 * p2 - p3);
+  const VType c = 0.5 * (-p0 + p2);
+  const VType d = p1;
+
+  // Use Horner's rule to evaluate the function value and its
+  // derivative.
+
+  // f = ax^3 + bx^2 + cx + d
+  if (f != NULL) {
+    Eigen::Map<VType>(f, kDataDimension) = d + x * (c + x * (b + x * a));
+  }
+
+  // dfdx = 3ax^2 + 2bx + c
+  if (dfdx != NULL) {
+    Eigen::Map<VType>(dfdx, kDataDimension) = c + x * (2.0 * b + 3.0 * a * x);
+  }
+}
+
+// Given as input an infinite one dimensional grid, which provides the
+// following interface.
+//
+//   class Grid {
+//    public:
+//     enum { DATA_DIMENSION = 2; };
+//     void GetValue(int n, double* f) const;
+//   };
+//
+// Here, GetValue gives the value of a function f (possibly vector
+// valued) for any integer n.
+//
+// The enum DATA_DIMENSION indicates the dimensionality of the
+// function being interpolated. For example if you are interpolating
+// rotations in axis-angle format over time, then DATA_DIMENSION = 3.
+//
+// CubicInterpolator uses cubic Hermite splines to produce a smooth
+// approximation to it that can be used to evaluate the f(x) and f'(x)
+// at any point on the real number line.
+//
+// For more details on cubic interpolation see
+//
+// http://en.wikipedia.org/wiki/Cubic_Hermite_spline
+//
+// Example usage:
+//
+//  const double data[] = {1.0, 2.0, 5.0, 6.0};
+//  Grid1D<double, 1> grid(data, 0, 4);
+//  CubicInterpolator<Grid1D<double, 1>> interpolator(grid);
+//  double f, dfdx;
+//  interpolator.Evaluator(1.5, &f, &dfdx);
+template <typename Grid>
+class CubicInterpolator {
+ public:
+  explicit CubicInterpolator(const Grid& grid) : grid_(grid) {
+    // The + casts the enum into an int before doing the
+    // comparison. It is needed to prevent
+    // "-Wunnamed-type-template-args" related errors.
+    CHECK_GE(+Grid::DATA_DIMENSION, 1);
+  }
+
+  void Evaluate(double x, double* f, double* dfdx) const {
+    const int n = std::floor(x);
+    Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> p0, p1, p2, p3;
+    grid_.GetValue(n - 1, p0.data());
+    grid_.GetValue(n, p1.data());
+    grid_.GetValue(n + 1, p2.data());
+    grid_.GetValue(n + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(p0, p1, p2, p3, x - n, f, dfdx);
+  }
+
+  // The following two Evaluate overloads are needed for interfacing
+  // with automatic differentiation. The first is for when a scalar
+  // evaluation is done, and the second one is for when Jets are used.
+  void Evaluate(const double& x, double* f) const { Evaluate(x, f, NULL); }
+
+  template <typename JetT>
+  void Evaluate(const JetT& x, JetT* f) const {
+    double fx[Grid::DATA_DIMENSION], dfdx[Grid::DATA_DIMENSION];
+    Evaluate(x.a, fx, dfdx);
+    for (int i = 0; i < Grid::DATA_DIMENSION; ++i) {
+      f[i].a = fx[i];
+      f[i].v = dfdx[i] * x.v;
+    }
+  }
+
+ private:
+  const Grid& grid_;
+};
+
+// An object that implements an infinite one dimensional grid needed
+// by the CubicInterpolator where the source of the function values is
+// an array of type T on the interval
+//
+//   [begin, ..., end - 1]
+//
+// Since the input array is finite and the grid is infinite, values
+// outside this interval needs to be computed. Grid1D uses the value
+// from the nearest edge.
+//
+// The function being provided can be vector valued, in which case
+// kDataDimension > 1. The dimensional slices of the function maybe
+// interleaved, or they maybe stacked, i.e, if the function has
+// kDataDimension = 2, if kInterleaved = true, then it is stored as
+//
+//   f01, f02, f11, f12 ....
+//
+// and if kInterleaved = false, then it is stored as
+//
+//  f01, f11, .. fn1, f02, f12, .. , fn2
+//
+template <typename T, int kDataDimension = 1, bool kInterleaved = true>
+struct Grid1D {
+ public:
+  enum { DATA_DIMENSION = kDataDimension };
+
+  Grid1D(const T* data, const int begin, const int end)
+      : data_(data), begin_(begin), end_(end), num_values_(end - begin) {
+    CHECK_LT(begin, end);
+  }
+
+  EIGEN_STRONG_INLINE void GetValue(const int n, double* f) const {
+    const int idx = std::min(std::max(begin_, n), end_ - 1) - begin_;
+    if (kInterleaved) {
+      for (int i = 0; i < kDataDimension; ++i) {
+        f[i] = static_cast<double>(data_[kDataDimension * idx + i]);
+      }
+    } else {
+      for (int i = 0; i < kDataDimension; ++i) {
+        f[i] = static_cast<double>(data_[i * num_values_ + idx]);
+      }
+    }
+  }
+
+ private:
+  const T* data_;
+  const int begin_;
+  const int end_;
+  const int num_values_;
+};
+
+// Given as input an infinite two dimensional grid like object, which
+// provides the following interface:
+//
+//   struct Grid {
+//     enum { DATA_DIMENSION = 1 };
+//     void GetValue(int row, int col, double* f) const;
+//   };
+//
+// Where, GetValue gives us the value of a function f (possibly vector
+// valued) for any pairs of integers (row, col), and the enum
+// DATA_DIMENSION indicates the dimensionality of the function being
+// interpolated. For example if you are interpolating a color image
+// with three channels (Red, Green & Blue), then DATA_DIMENSION = 3.
+//
+// BiCubicInterpolator uses the cubic convolution interpolation
+// algorithm of R. Keys, to produce a smooth approximation to it that
+// can be used to evaluate the f(r,c), df(r, c)/dr and df(r,c)/dc at
+// any point in the real plane.
+//
+// For more details on the algorithm used here see:
+//
+// "Cubic convolution interpolation for digital image processing".
+// Robert G. Keys, IEEE Trans. on Acoustics, Speech, and Signal
+// Processing 29 (6): 1153-1160, 1981.
+//
+// http://en.wikipedia.org/wiki/Cubic_Hermite_spline
+// http://en.wikipedia.org/wiki/Bicubic_interpolation
+//
+// Example usage:
+//
+// const double data[] = {1.0, 3.0, -1.0, 4.0,
+//                         3.6, 2.1,  4.2, 2.0,
+//                        2.0, 1.0,  3.1, 5.2};
+//  Grid2D<double, 1>  grid(data, 3, 4);
+//  BiCubicInterpolator<Grid2D<double, 1>> interpolator(grid);
+//  double f, dfdr, dfdc;
+//  interpolator.Evaluate(1.2, 2.5, &f, &dfdr, &dfdc);
+
+template <typename Grid>
+class BiCubicInterpolator {
+ public:
+  explicit BiCubicInterpolator(const Grid& grid) : grid_(grid) {
+    // The + casts the enum into an int before doing the
+    // comparison. It is needed to prevent
+    // "-Wunnamed-type-template-args" related errors.
+    CHECK_GE(+Grid::DATA_DIMENSION, 1);
+  }
+
+  // Evaluate the interpolated function value and/or its
+  // derivative. Uses the nearest point on the grid boundary if r or
+  // c is out of bounds.
+  void Evaluate(
+      double r, double c, double* f, double* dfdr, double* dfdc) const {
+    // BiCubic interpolation requires 16 values around the point being
+    // evaluated.  We will use pij, to indicate the elements of the
+    // 4x4 grid of values.
+    //
+    //          col
+    //      p00 p01 p02 p03
+    // row  p10 p11 p12 p13
+    //      p20 p21 p22 p23
+    //      p30 p31 p32 p33
+    //
+    // The point (r,c) being evaluated is assumed to lie in the square
+    // defined by p11, p12, p22 and p21.
+
+    const int row = std::floor(r);
+    const int col = std::floor(c);
+
+    Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> p0, p1, p2, p3;
+
+    // Interpolate along each of the four rows, evaluating the function
+    // value and the horizontal derivative in each row.
+    Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> f0, f1, f2, f3;
+    Eigen::Matrix<double, Grid::DATA_DIMENSION, 1> df0dc, df1dc, df2dc, df3dc;
+
+    grid_.GetValue(row - 1, col - 1, p0.data());
+    grid_.GetValue(row - 1, col, p1.data());
+    grid_.GetValue(row - 1, col + 1, p2.data());
+    grid_.GetValue(row - 1, col + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(
+        p0, p1, p2, p3, c - col, f0.data(), df0dc.data());
+
+    grid_.GetValue(row, col - 1, p0.data());
+    grid_.GetValue(row, col, p1.data());
+    grid_.GetValue(row, col + 1, p2.data());
+    grid_.GetValue(row, col + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(
+        p0, p1, p2, p3, c - col, f1.data(), df1dc.data());
+
+    grid_.GetValue(row + 1, col - 1, p0.data());
+    grid_.GetValue(row + 1, col, p1.data());
+    grid_.GetValue(row + 1, col + 1, p2.data());
+    grid_.GetValue(row + 1, col + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(
+        p0, p1, p2, p3, c - col, f2.data(), df2dc.data());
+
+    grid_.GetValue(row + 2, col - 1, p0.data());
+    grid_.GetValue(row + 2, col, p1.data());
+    grid_.GetValue(row + 2, col + 1, p2.data());
+    grid_.GetValue(row + 2, col + 2, p3.data());
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(
+        p0, p1, p2, p3, c - col, f3.data(), df3dc.data());
+
+    // Interpolate vertically the interpolated value from each row and
+    // compute the derivative along the columns.
+    CubicHermiteSpline<Grid::DATA_DIMENSION>(f0, f1, f2, f3, r - row, f, dfdr);
+    if (dfdc != NULL) {
+      // Interpolate vertically the derivative along the columns.
+      CubicHermiteSpline<Grid::DATA_DIMENSION>(
+          df0dc, df1dc, df2dc, df3dc, r - row, dfdc, NULL);
+    }
+  }
+
+  // The following two Evaluate overloads are needed for interfacing
+  // with automatic differentiation. The first is for when a scalar
+  // evaluation is done, and the second one is for when Jets are used.
+  void Evaluate(const double& r, const double& c, double* f) const {
+    Evaluate(r, c, f, NULL, NULL);
+  }
+
+  template <typename JetT>
+  void Evaluate(const JetT& r, const JetT& c, JetT* f) const {
+    double frc[Grid::DATA_DIMENSION];
+    double dfdr[Grid::DATA_DIMENSION];
+    double dfdc[Grid::DATA_DIMENSION];
+    Evaluate(r.a, c.a, frc, dfdr, dfdc);
+    for (int i = 0; i < Grid::DATA_DIMENSION; ++i) {
+      f[i].a = frc[i];
+      f[i].v = dfdr[i] * r.v + dfdc[i] * c.v;
+    }
+  }
+
+ private:
+  const Grid& grid_;
+};
+
+// An object that implements an infinite two dimensional grid needed
+// by the BiCubicInterpolator where the source of the function values
+// is an grid of type T on the grid
+//
+//   [(row_start,   col_start), ..., (row_start,   col_end - 1)]
+//   [                          ...                            ]
+//   [(row_end - 1, col_start), ..., (row_end - 1, col_end - 1)]
+//
+// Since the input grid is finite and the grid is infinite, values
+// outside this interval needs to be computed. Grid2D uses the value
+// from the nearest edge.
+//
+// The function being provided can be vector valued, in which case
+// kDataDimension > 1. The data maybe stored in row or column major
+// format and the various dimensional slices of the function maybe
+// interleaved, or they maybe stacked, i.e, if the function has
+// kDataDimension = 2, is stored in row-major format and if
+// kInterleaved = true, then it is stored as
+//
+//   f001, f002, f011, f012, ...
+//
+// A commonly occuring example are color images (RGB) where the three
+// channels are stored interleaved.
+//
+// If kInterleaved = false, then it is stored as
+//
+//  f001, f011, ..., fnm1, f002, f012, ...
+template <typename T,
+          int kDataDimension = 1,
+          bool kRowMajor = true,
+          bool kInterleaved = true>
+struct Grid2D {
+ public:
+  enum { DATA_DIMENSION = kDataDimension };
+
+  Grid2D(const T* data,
+         const int row_begin,
+         const int row_end,
+         const int col_begin,
+         const int col_end)
+      : data_(data),
+        row_begin_(row_begin),
+        row_end_(row_end),
+        col_begin_(col_begin),
+        col_end_(col_end),
+        num_rows_(row_end - row_begin),
+        num_cols_(col_end - col_begin),
+        num_values_(num_rows_ * num_cols_) {
+    CHECK_GE(kDataDimension, 1);
+    CHECK_LT(row_begin, row_end);
+    CHECK_LT(col_begin, col_end);
+  }
+
+  EIGEN_STRONG_INLINE void GetValue(const int r, const int c, double* f) const {
+    const int row_idx =
+        std::min(std::max(row_begin_, r), row_end_ - 1) - row_begin_;
+    const int col_idx =
+        std::min(std::max(col_begin_, c), col_end_ - 1) - col_begin_;
+
+    const int n = (kRowMajor) ? num_cols_ * row_idx + col_idx
+                              : num_rows_ * col_idx + row_idx;
+
+    if (kInterleaved) {
+      for (int i = 0; i < kDataDimension; ++i) {
+        f[i] = static_cast<double>(data_[kDataDimension * n + i]);
+      }
+    } else {
+      for (int i = 0; i < kDataDimension; ++i) {
+        f[i] = static_cast<double>(data_[i * num_values_ + n]);
+      }
+    }
+  }
+
+ private:
+  const T* data_;
+  const int row_begin_;
+  const int row_end_;
+  const int col_begin_;
+  const int col_end_;
+  const int num_rows_;
+  const int num_cols_;
+  const int num_values_;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_CUBIC_INTERPOLATOR_H_

extern/ceres/include/ceres/dynamic_autodiff_cost_function.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -28,7 +28,22 @@
 //
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //         mierle@gmail.com (Keir Mierle)
-//
+
+#ifndef CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
+
+#include <cmath>
+#include <memory>
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/jet.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
 // This autodiff implementation differs from the one found in
 // autodiff_cost_function.h by supporting autodiff on cost functions
 // with variable numbers of parameters with variable sizes. With the
@@ -43,7 +58,7 @@
 //     bool operator()(T const* const* parameters, T* residuals) const {
 //       // Use parameters[i] to access the i'th parameter block.
 //     }
-//   }
+//   };
 //
 // Since the sizing of the parameters is done at runtime, you must
 // also specify the sizes after creating the dynamic autodiff cost
@@ -60,40 +75,17 @@
 // default, controlled by the Stride template parameter) with each
 // pass. There is a tradeoff with the size of the passes; you may want
 // to experiment with the stride.
-
-#ifndef CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
-#define CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
-
-#include <cmath>
-#include <numeric>
-#include <vector>
-
-#include "ceres/cost_function.h"
-#include "ceres/internal/scoped_ptr.h"
-#include "ceres/jet.h"
-#include "glog/logging.h"
-
-namespace ceres {
-
 template <typename CostFunctor, int Stride = 4>
-class DynamicAutoDiffCostFunction : public CostFunction {
+class DynamicAutoDiffCostFunction : public DynamicCostFunction {
  public:
   explicit DynamicAutoDiffCostFunction(CostFunctor* functor)
-    : functor_(functor) {}
+      : functor_(functor) {}
 
   virtual ~DynamicAutoDiffCostFunction() {}
 
-  void AddParameterBlock(int size) {
-    mutable_parameter_block_sizes()->push_back(size);
-  }
-
-  void SetNumResiduals(int num_residuals) {
-    set_num_residuals(num_residuals);
-  }
-
-  virtual bool Evaluate(double const* const* parameters,
-                        double* residuals,
-                        double** jacobians) const {
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const override {
     CHECK_GT(num_residuals(), 0)
         << "You must call DynamicAutoDiffCostFunction::SetNumResiduals() "
         << "before DynamicAutoDiffCostFunction::Evaluate().";
@@ -112,20 +104,23 @@ class DynamicAutoDiffCostFunction : public CostFunction {
     // depends on.
     //
     // To work around this issue, the solution here is to evaluate the
-    // jacobians in a series of passes, each one computing Stripe *
+    // jacobians in a series of passes, each one computing Stride *
     // num_residuals() derivatives. This is done with small, fixed-size jets.
-    const int num_parameter_blocks = parameter_block_sizes().size();
-    const int num_parameters = std::accumulate(parameter_block_sizes().begin(),
-                                               parameter_block_sizes().end(),
-                                               0);
+    const int num_parameter_blocks =
+        static_cast<int>(parameter_block_sizes().size());
+    const int num_parameters = std::accumulate(
+        parameter_block_sizes().begin(), parameter_block_sizes().end(), 0);
 
     // Allocate scratch space for the strided evaluation.
-    std::vector<Jet<double, Stride> > input_jets(num_parameters);
-    std::vector<Jet<double, Stride> > output_jets(num_residuals());
+    using JetT = Jet<double, Stride>;
+    internal::FixedArray<JetT, (256 * 7) / sizeof(JetT)> input_jets(
+        num_parameters);
+    internal::FixedArray<JetT, (256 * 7) / sizeof(JetT)> output_jets(
+        num_residuals());
 
     // Make the parameter pack that is sent to the functor (reused).
-    std::vector<Jet<double, Stride>* > jet_parameters(num_parameter_blocks,
-        static_cast<Jet<double, Stride>* >(NULL));
+    internal::FixedArray<Jet<double, Stride>*> jet_parameters(
+        num_parameter_blocks, nullptr);
     int num_active_parameters = 0;
 
     // To handle constant parameters between non-constant parameter blocks, the
@@ -172,8 +167,8 @@ class DynamicAutoDiffCostFunction : public CostFunction {
     // Evaluate all of the strides. Each stride is a chunk of the derivative to
     // evaluate, typically some size proportional to the size of the SIMD
     // registers of the CPU.
-    int num_strides = static_cast<int>(ceil(num_active_parameters /
-                                            static_cast<float>(Stride)));
+    int num_strides = static_cast<int>(
+        ceil(num_active_parameters / static_cast<float>(Stride)));
 
     int current_derivative_section = 0;
     int current_derivative_section_cursor = 0;
@@ -183,7 +178,7 @@ class DynamicAutoDiffCostFunction : public CostFunction {
       // non-constant #Stride parameters.
       const int initial_derivative_section = current_derivative_section;
       const int initial_derivative_section_cursor =
-        current_derivative_section_cursor;
+          current_derivative_section_cursor;
 
       int active_parameter_count = 0;
       parameter_cursor = 0;
@@ -193,9 +188,9 @@ class DynamicAutoDiffCostFunction : public CostFunction {
              ++j, parameter_cursor++) {
           input_jets[parameter_cursor].v.setZero();
           if (active_parameter_count < Stride &&
-              parameter_cursor >= (
-                start_derivative_section[current_derivative_section] +
-                current_derivative_section_cursor)) {
+              parameter_cursor >=
+                  (start_derivative_section[current_derivative_section] +
+                   current_derivative_section_cursor)) {
             if (jacobians[i] != NULL) {
               input_jets[parameter_cursor].v[active_parameter_count] = 1.0;
               ++active_parameter_count;
@@ -222,9 +217,9 @@ class DynamicAutoDiffCostFunction : public CostFunction {
         for (int j = 0; j < parameter_block_sizes()[i];
              ++j, parameter_cursor++) {
           if (active_parameter_count < Stride &&
-              parameter_cursor >= (
-                start_derivative_section[current_derivative_section] +
-                current_derivative_section_cursor)) {
+              parameter_cursor >=
+                  (start_derivative_section[current_derivative_section] +
+                   current_derivative_section_cursor)) {
             if (jacobians[i] != NULL) {
               for (int k = 0; k < num_residuals(); ++k) {
                 jacobians[i][k * parameter_block_sizes()[i] + j] =
@@ -252,7 +247,7 @@ class DynamicAutoDiffCostFunction : public CostFunction {
   }
 
  private:
-  internal::scoped_ptr<CostFunctor> functor_;
+  std::unique_ptr<CostFunctor> functor_;
 };
 
 }  // namespace ceres

extern/ceres/include/ceres/dynamic_cost_function.h

@@ -0,0 +1,56 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2019 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_
+
+#include "ceres/cost_function.h"
+
+namespace ceres {
+
+// A common base class for DynamicAutoDiffCostFunction and
+// DynamicNumericDiffCostFunction which depend on methods that can add
+// parameter blocks and set the number of residuals at run time.
+class CERES_EXPORT DynamicCostFunction : public CostFunction {
+ public:
+  ~DynamicCostFunction() {}
+
+  virtual void AddParameterBlock(int size) {
+    mutable_parameter_block_sizes()->push_back(size);
+  }
+
+  virtual void SetNumResiduals(int num_residuals) {
+    set_num_residuals(num_residuals);
+  }
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_DYNAMIC_COST_FUNCTION_H_

extern/ceres/include/ceres/dynamic_cost_function_to_functor.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -28,7 +28,20 @@
 //
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //         dgossow@google.com (David Gossow)
-//
+
+#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
+#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
+
+#include <memory>
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
 // DynamicCostFunctionToFunctor allows users to use CostFunction
 // objects in templated functors which are to be used for automatic
 // differentiation. It works similar to CostFunctionToFunctor, with the
@@ -40,9 +53,9 @@
 //  class IntrinsicProjection : public CostFunction {
 //    public:
 //      IntrinsicProjection(const double* observation);
-//      virtual bool Evaluate(double const* const* parameters,
-//                            double* residuals,
-//                            double** jacobians) const;
+//      bool Evaluate(double const* const* parameters,
+//                    double* residuals,
+//                    double** jacobians) const override;
 //  };
 //
 // is a cost function that implements the projection of a point in its
@@ -87,26 +100,12 @@
 //  private:
 //   DynamicCostFunctionToFunctor intrinsic_projection_;
 // };
-
-#ifndef CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
-#define CERES_PUBLIC_DYNAMIC_COST_FUNCTION_TO_FUNCTOR_H_
-
-#include <numeric>
-#include <vector>
-
-#include "ceres/cost_function.h"
-#include "ceres/internal/fixed_array.h"
-#include "ceres/internal/port.h"
-#include "ceres/internal/scoped_ptr.h"
-
-namespace ceres {
-
 class DynamicCostFunctionToFunctor {
  public:
   // Takes ownership of cost_function.
   explicit DynamicCostFunctionToFunctor(CostFunction* cost_function)
       : cost_function_(cost_function) {
-    CHECK_NOTNULL(cost_function);
+    CHECK(cost_function != nullptr);
   }
 
   bool operator()(double const* const* parameters, double* residuals) const {
@@ -115,12 +114,13 @@ class DynamicCostFunctionToFunctor {
 
   template <typename JetT>
   bool operator()(JetT const* const* inputs, JetT* output) const {
-    const std::vector<int32>& parameter_block_sizes =
+    const std::vector<int32_t>& parameter_block_sizes =
         cost_function_->parameter_block_sizes();
-    const int num_parameter_blocks = parameter_block_sizes.size();
+    const int num_parameter_blocks =
+        static_cast<int>(parameter_block_sizes.size());
     const int num_residuals = cost_function_->num_residuals();
-    const int num_parameters = std::accumulate(parameter_block_sizes.begin(),
-                                               parameter_block_sizes.end(), 0);
+    const int num_parameters = std::accumulate(
+        parameter_block_sizes.begin(), parameter_block_sizes.end(), 0);
 
     internal::FixedArray<double> parameters(num_parameters);
     internal::FixedArray<double*> parameter_blocks(num_parameter_blocks);
@@ -130,8 +130,8 @@ class DynamicCostFunctionToFunctor {
 
     // Build a set of arrays to get the residuals and jacobians from
     // the CostFunction wrapped by this functor.
-    double* parameter_ptr = parameters.get();
-    double* jacobian_ptr = jacobians.get();
+    double* parameter_ptr = parameters.data();
+    double* jacobian_ptr = jacobians.data();
     for (int i = 0; i < num_parameter_blocks; ++i) {
       parameter_blocks[i] = parameter_ptr;
       jacobian_blocks[i] = jacobian_ptr;
@@ -141,9 +141,9 @@ class DynamicCostFunctionToFunctor {
       jacobian_ptr += num_residuals * parameter_block_sizes[i];
     }
 
-    if (!cost_function_->Evaluate(parameter_blocks.get(),
-                                  residuals.get(),
-                                  jacobian_blocks.get())) {
+    if (!cost_function_->Evaluate(parameter_blocks.data(),
+                                  residuals.data(),
+                                  jacobian_blocks.data())) {
       return false;
     }
 
@@ -170,7 +170,7 @@ class DynamicCostFunctionToFunctor {
       output[i].v.setZero();
 
       for (int j = 0; j < num_parameter_blocks; ++j) {
-        const int32 block_size = parameter_block_sizes[j];
+        const int32_t block_size = parameter_block_sizes[j];
         for (int k = 0; k < parameter_block_sizes[j]; ++k) {
           output[i].v +=
               jacobian_blocks[j][i * block_size + k] * inputs[j][k].v;
@@ -182,7 +182,7 @@ class DynamicCostFunctionToFunctor {
   }
 
  private:
-  internal::scoped_ptr<CostFunction> cost_function_;
+  std::unique_ptr<CostFunction> cost_function_;
 };
 
 }  // namespace ceres

extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -30,7 +30,24 @@
 //         sameeragarwal@google.com (Sameer Agarwal)
 //         thadh@gmail.com (Thad Hughes)
 //         tbennun@gmail.com (Tal Ben-Nun)
-//
+
+#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
+
+#include <cmath>
+#include <memory>
+#include <numeric>
+#include <vector>
+
+#include "ceres/dynamic_cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/numeric_diff.h"
+#include "ceres/internal/parameter_dims.h"
+#include "ceres/numeric_diff_options.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
 // This numeric diff implementation differs from the one found in
 // numeric_diff_cost_function.h by supporting numericdiff on cost
 // functions with variable numbers of parameters with variable
@@ -42,7 +59,9 @@
 // numeric diff; the expected interface for the cost functors is:
 //
 //   struct MyCostFunctor {
-//     bool operator()(double const* const* parameters, double* residuals) const {
+//     bool operator()(double const*
+//                     const* parameters,
+//                     double* residuals) const {
 //       // Use parameters[i] to access the i'th parameter block.
 //     }
 //   }
@@ -56,34 +75,14 @@
 //   cost_function.AddParameterBlock(5);
 //   cost_function.AddParameterBlock(10);
 //   cost_function.SetNumResiduals(21);
-
-#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
-#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
-
-#include <cmath>
-#include <numeric>
-#include <vector>
-
-#include "ceres/cost_function.h"
-#include "ceres/internal/scoped_ptr.h"
-#include "ceres/internal/eigen.h"
-#include "ceres/internal/numeric_diff.h"
-#include "ceres/numeric_diff_options.h"
-#include "glog/logging.h"
-
-namespace ceres {
-
 template <typename CostFunctor, NumericDiffMethodType method = CENTRAL>
-class DynamicNumericDiffCostFunction : public CostFunction {
+class DynamicNumericDiffCostFunction : public DynamicCostFunction {
  public:
   explicit DynamicNumericDiffCostFunction(
       const CostFunctor* functor,
       Ownership ownership = TAKE_OWNERSHIP,
       const NumericDiffOptions& options = NumericDiffOptions())
-      : functor_(functor),
-        ownership_(ownership),
-        options_(options) {
-  }
+      : functor_(functor), ownership_(ownership), options_(options) {}
 
   virtual ~DynamicNumericDiffCostFunction() {
     if (ownership_ != TAKE_OWNERSHIP) {
@@ -91,28 +90,22 @@ class DynamicNumericDiffCostFunction : public CostFunction {
     }
   }
 
-  void AddParameterBlock(int size) {
-    mutable_parameter_block_sizes()->push_back(size);
-  }
-
-  void SetNumResiduals(int num_residuals) {
-    set_num_residuals(num_residuals);
-  }
-
-  virtual bool Evaluate(double const* const* parameters,
-                        double* residuals,
-                        double** jacobians) const {
+  bool Evaluate(double const* const* parameters,
+                double* residuals,
+                double** jacobians) const override {
     using internal::NumericDiff;
     CHECK_GT(num_residuals(), 0)
         << "You must call DynamicNumericDiffCostFunction::SetNumResiduals() "
         << "before DynamicNumericDiffCostFunction::Evaluate().";
 
-    const std::vector<int32>& block_sizes = parameter_block_sizes();
+    const std::vector<int32_t>& block_sizes = parameter_block_sizes();
     CHECK(!block_sizes.empty())
         << "You must call DynamicNumericDiffCostFunction::AddParameterBlock() "
         << "before DynamicNumericDiffCostFunction::Evaluate().";
 
-    const bool status = EvaluateCostFunctor(parameters, residuals);
+    const bool status =
+        internal::VariadicEvaluate<internal::DynamicParameterDims>(
+            *functor_.get(), parameters, residuals);
     if (jacobians == NULL || !status) {
       return status;
     }
@@ -123,8 +116,8 @@ class DynamicNumericDiffCostFunction : public CostFunction {
     std::vector<double*> parameters_references_copy(block_sizes.size());
     parameters_references_copy[0] = &parameters_copy[0];
     for (size_t block = 1; block < block_sizes.size(); ++block) {
-      parameters_references_copy[block] = parameters_references_copy[block - 1]
-          + block_sizes[block - 1];
+      parameters_references_copy[block] =
+          parameters_references_copy[block - 1] + block_sizes[block - 1];
     }
 
     // Copy the parameters into the local temp space.
@@ -136,18 +129,20 @@ class DynamicNumericDiffCostFunction : public CostFunction {
 
     for (size_t block = 0; block < block_sizes.size(); ++block) {
       if (jacobians[block] != NULL &&
-          !NumericDiff<CostFunctor, method, DYNAMIC,
-                       DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
-                       DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
-                       DYNAMIC, DYNAMIC>::EvaluateJacobianForParameterBlock(
-                                             functor_.get(),
-                                             residuals,
-                                             options_,
-                                             this->num_residuals(),
-                                             block,
-                                             block_sizes[block],
-                                             &parameters_references_copy[0],
-                                             jacobians[block])) {
+          !NumericDiff<CostFunctor,
+                       method,
+                       ceres::DYNAMIC,
+                       internal::DynamicParameterDims,
+                       ceres::DYNAMIC,
+                       ceres::DYNAMIC>::
+              EvaluateJacobianForParameterBlock(functor_.get(),
+                                                residuals,
+                                                options_,
+                                                this->num_residuals(),
+                                                block,
+                                                block_sizes[block],
+                                                &parameters_references_copy[0],
+                                                jacobians[block])) {
         return false;
       }
     }
@@ -155,31 +150,7 @@ class DynamicNumericDiffCostFunction : public CostFunction {
   }
 
  private:
-  bool EvaluateCostFunctor(double const* const* parameters,
-                           double* residuals) const {
-    return EvaluateCostFunctorImpl(functor_.get(),
-                                   parameters,
-                                   residuals,
-                                   functor_.get());
-  }
-
-  // Helper templates to allow evaluation of a functor or a
-  // CostFunction.
-  bool EvaluateCostFunctorImpl(const CostFunctor* functor,
-                               double const* const* parameters,
-                               double* residuals,
-                               const void* /* NOT USED */) const {
-    return (*functor)(parameters, residuals);
-  }
-
-  bool EvaluateCostFunctorImpl(const CostFunctor* functor,
-                               double const* const* parameters,
-                               double* residuals,
-                               const CostFunction* /* NOT USED */) const {
-    return functor->Evaluate(parameters, residuals, NULL);
-  }
-
-  internal::scoped_ptr<const CostFunctor> functor_;
+  std::unique_ptr<const CostFunctor> functor_;
   Ownership ownership_;
   NumericDiffOptions options_;
 };

extern/ceres/include/ceres/evaluation_callback.h

@@ -0,0 +1,80 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2019 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mierle@gmail.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_EVALUATION_CALLBACK_H_
+#define CERES_PUBLIC_EVALUATION_CALLBACK_H_
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// Using this callback interface, Ceres can notify you when it is
+// about to evaluate the residuals or jacobians. With the callback,
+// you can share computation between residual blocks by doing the
+// shared computation in PrepareForEvaluation() before Ceres calls
+// CostFunction::Evaluate(). It also enables caching results between a
+// pure residual evaluation and a residual & jacobian evaluation, via
+// the new_evaluation_point argument.
+//
+// One use case for this callback is if the cost function compute is
+// moved to the GPU. In that case, the prepare call does the actual
+// cost function evaluation, and subsequent calls from Ceres to the
+// actual cost functions merely copy the results from the GPU onto the
+// corresponding blocks for Ceres to plug into the solver.
+//
+// NOTE: Ceres provides no mechanism to share data other than the
+// notification from the callback. Users must provide access to
+// pre-computed shared data to their cost functions behind the scenes;
+// this all happens without Ceres knowing.
+//
+// One approach is to put a pointer to the shared data in each cost
+// function (recommended) or to use a global shared variable
+// (discouraged; bug-prone).  As far as Ceres is concerned, it is
+// evaluating cost functions like any other; it just so happens that
+// behind the scenes the cost functions reuse pre-computed data to
+// execute faster.
+class CERES_EXPORT EvaluationCallback {
+ public:
+  virtual ~EvaluationCallback() {}
+
+  // Called before Ceres requests residuals or jacobians for a given setting of
+  // the parameters. User parameters (the double* values provided to the cost
+  // functions) are fixed until the next call to PrepareForEvaluation(). If
+  // new_evaluation_point == true, then this is a new point that is different
+  // from the last evaluated point. Otherwise, it is the same point that was
+  // evaluated previously (either jacobian or residual) and the user can use
+  // cached results from previous evaluations.
+  virtual void PrepareForEvaluation(bool evaluate_jacobians,
+                                    bool new_evaluation_point) = 0;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_EVALUATION_CALLBACK_H_

extern/ceres/include/ceres/first_order_function.h

@@ -0,0 +1,54 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2019 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_FIRST_ORDER_FUNCTION_H_
+#define CERES_PUBLIC_FIRST_ORDER_FUNCTION_H_
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// A FirstOrderFunction object implements the evaluation of a function
+// and its gradient.
+class CERES_EXPORT FirstOrderFunction {
+ public:
+  virtual ~FirstOrderFunction() {}
+
+  // cost is never null. gradient may be null. The return value
+  // indicates whether the evaluation was successful or not.
+  virtual bool Evaluate(const double* const parameters,
+                        double* cost,
+                        double* gradient) const = 0;
+  virtual int NumParameters() const = 0;
+};
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_FIRST_ORDER_FUNCTION_H_

extern/ceres/include/ceres/gradient_checker.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -34,15 +34,14 @@
 #ifndef CERES_PUBLIC_GRADIENT_CHECKER_H_
 #define CERES_PUBLIC_GRADIENT_CHECKER_H_
 
-#include <vector>
+#include <memory>
 #include <string>
+#include <vector>
 
 #include "ceres/cost_function.h"
 #include "ceres/dynamic_numeric_diff_cost_function.h"
 #include "ceres/internal/eigen.h"
 #include "ceres/internal/fixed_array.h"
-#include "ceres/internal/macros.h"
-#include "ceres/internal/scoped_ptr.h"
 #include "ceres/local_parameterization.h"
 #include "glog/logging.h"
 
@@ -64,13 +63,13 @@ namespace ceres {
 //
 // How to use: Fill in an array of pointers to parameter blocks for your
 // CostFunction, and then call Probe(). Check that the return value is 'true'.
-class GradientChecker {
+class CERES_EXPORT GradientChecker {
  public:
   // This will not take ownership of the cost function or local
   // parameterizations.
   //
   // function: The cost function to probe.
-  // local_parameterization: A vector of local parameterizations for each
+  // local_parameterizations: A vector of local parameterizations for each
   // parameter. May be NULL or contain NULL pointers to indicate that the
   // respective parameter does not have a local parameterization.
   // options: Options to use for numerical differentiation.
@@ -80,7 +79,7 @@ class GradientChecker {
       const NumericDiffOptions& options);
 
   // Contains results from a call to Probe for later inspection.
-  struct ProbeResults {
+  struct CERES_EXPORT ProbeResults {
     // The return value of the cost function.
     bool return_value;
 
@@ -100,10 +99,10 @@ class GradientChecker {
     // Derivatives as computed by the cost function in local space.
     std::vector<Matrix> local_jacobians;
 
-    // Derivatives as computed by nuerical differentiation in local space.
+    // Derivatives as computed by numerical differentiation in local space.
     std::vector<Matrix> numeric_jacobians;
 
-    // Derivatives as computed by nuerical differentiation in local space.
+    // Derivatives as computed by numerical differentiation in local space.
     std::vector<Matrix> local_numeric_jacobians;
 
     // Contains the maximum relative error found in the local Jacobians.
@@ -137,11 +136,13 @@ class GradientChecker {
              ProbeResults* results) const;
 
  private:
-  CERES_DISALLOW_IMPLICIT_CONSTRUCTORS(GradientChecker);
+  GradientChecker() = delete;
+  GradientChecker(const GradientChecker&) = delete;
+  void operator=(const GradientChecker&) = delete;
 
   std::vector<const LocalParameterization*> local_parameterizations_;
   const CostFunction* function_;
-  internal::scoped_ptr<CostFunction> finite_diff_cost_function_;
+  std::unique_ptr<CostFunction> finite_diff_cost_function_;
 };
 
 }  // namespace ceres

extern/ceres/include/ceres/gradient_problem.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -31,9 +31,10 @@
 #ifndef CERES_PUBLIC_GRADIENT_PROBLEM_H_
 #define CERES_PUBLIC_GRADIENT_PROBLEM_H_
 
-#include "ceres/internal/macros.h"
+#include <memory>
+
+#include "ceres/first_order_function.h"
 #include "ceres/internal/port.h"
-#include "ceres/internal/scoped_ptr.h"
 #include "ceres/local_parameterization.h"
 
 namespace ceres {
@@ -105,21 +106,9 @@ class CERES_EXPORT GradientProblem {
   bool Plus(const double* x, const double* delta, double* x_plus_delta) const;
 
  private:
-  internal::scoped_ptr<FirstOrderFunction> function_;
-  internal::scoped_ptr<LocalParameterization> parameterization_;
-  internal::scoped_array<double> scratch_;
-};
-
-// A FirstOrderFunction object implements the evaluation of a function
-// and its gradient.
-class CERES_EXPORT FirstOrderFunction {
- public:
-  virtual ~FirstOrderFunction() {}
-  // cost is never NULL. gradient may be null.
-  virtual bool Evaluate(const double* const parameters,
-                        double* cost,
-                        double* gradient) const = 0;
-  virtual int NumParameters() const = 0;
+  std::unique_ptr<FirstOrderFunction> function_;
+  std::unique_ptr<LocalParameterization> parameterization_;
+  std::unique_ptr<double[]> scratch_;
 };
 
 }  // namespace ceres

extern/ceres/include/ceres/gradient_problem_solver.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -34,11 +34,11 @@
 #include <cmath>
 #include <string>
 #include <vector>
-#include "ceres/internal/macros.h"
+
+#include "ceres/internal/disable_warnings.h"
 #include "ceres/internal/port.h"
 #include "ceres/iteration_callback.h"
 #include "ceres/types.h"
-#include "ceres/internal/disable_warnings.h"
 
 namespace ceres {
 
@@ -54,39 +54,15 @@ class CERES_EXPORT GradientProblemSolver {
   //
   // The constants are defined inside types.h
   struct CERES_EXPORT Options {
-    // Default constructor that sets up a generic sparse problem.
-    Options() {
-      line_search_direction_type = LBFGS;
-      line_search_type = WOLFE;
-      nonlinear_conjugate_gradient_type = FLETCHER_REEVES;
-      max_lbfgs_rank = 20;
-      use_approximate_eigenvalue_bfgs_scaling = false;
-      line_search_interpolation_type = CUBIC;
-      min_line_search_step_size = 1e-9;
-      line_search_sufficient_function_decrease = 1e-4;
-      max_line_search_step_contraction = 1e-3;
-      min_line_search_step_contraction = 0.6;
-      max_num_line_search_step_size_iterations = 20;
-      max_num_line_search_direction_restarts = 5;
-      line_search_sufficient_curvature_decrease = 0.9;
-      max_line_search_step_expansion = 10.0;
-      max_num_iterations = 50;
-      max_solver_time_in_seconds = 1e9;
-      function_tolerance = 1e-6;
-      gradient_tolerance = 1e-10;
-      logging_type = PER_MINIMIZER_ITERATION;
-      minimizer_progress_to_stdout = false;
-    }
-
     // Returns true if the options struct has a valid
     // configuration. Returns false otherwise, and fills in *error
     // with a message describing the problem.
     bool IsValid(std::string* error) const;
 
     // Minimizer options ----------------------------------------
-    LineSearchDirectionType line_search_direction_type;
-    LineSearchType line_search_type;
-    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+    LineSearchDirectionType line_search_direction_type = LBFGS;
+    LineSearchType line_search_type = WOLFE;
+    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type = FLETCHER_REEVES;
 
     // The LBFGS hessian approximation is a low rank approximation to
     // the inverse of the Hessian matrix. The rank of the
@@ -111,8 +87,8 @@ class CERES_EXPORT GradientProblemSolver {
     // method, please see:
     //
     // Nocedal, J. (1980). "Updating Quasi-Newton Matrices with
-    // Limited Storage". Mathematics of Computation 35 (151): 773–782.
-    int max_lbfgs_rank;
+    // Limited Storage". Mathematics of Computation 35 (151): 773-782.
+    int max_lbfgs_rank = 20;
 
     // As part of the (L)BFGS update step (BFGS) / right-multiply step (L-BFGS),
     // the initial inverse Hessian approximation is taken to be the Identity.
@@ -134,18 +110,18 @@ class CERES_EXPORT GradientProblemSolver {
     // Oren S.S., Self-scaling variable metric (SSVM) algorithms
     // Part II: Implementation and experiments, Management Science,
     // 20(5), 863-874, 1974.
-    bool use_approximate_eigenvalue_bfgs_scaling;
+    bool use_approximate_eigenvalue_bfgs_scaling = false;
 
     // Degree of the polynomial used to approximate the objective
     // function. Valid values are BISECTION, QUADRATIC and CUBIC.
     //
     // BISECTION corresponds to pure backtracking search with no
     // interpolation.
-    LineSearchInterpolationType line_search_interpolation_type;
+    LineSearchInterpolationType line_search_interpolation_type = CUBIC;
 
     // If during the line search, the step_size falls below this
     // value, it is truncated to zero.
-    double min_line_search_step_size;
+    double min_line_search_step_size = 1e-9;
 
     // Line search parameters.
 
@@ -159,7 +135,7 @@ class CERES_EXPORT GradientProblemSolver {
     //
     //   f(step_size) <= f(0) + sufficient_decrease * f'(0) * step_size
     //
-    double line_search_sufficient_function_decrease;
+    double line_search_sufficient_function_decrease = 1e-4;
 
     // In each iteration of the line search,
     //
@@ -169,7 +145,7 @@ class CERES_EXPORT GradientProblemSolver {
     //
     //  0 < max_step_contraction < min_step_contraction < 1
     //
-    double max_line_search_step_contraction;
+    double max_line_search_step_contraction = 1e-3;
 
     // In each iteration of the line search,
     //
@@ -179,19 +155,19 @@ class CERES_EXPORT GradientProblemSolver {
     //
     //  0 < max_step_contraction < min_step_contraction < 1
     //
-    double min_line_search_step_contraction;
+    double min_line_search_step_contraction = 0.6;
 
     // Maximum number of trial step size iterations during each line search,
     // if a step size satisfying the search conditions cannot be found within
     // this number of trials, the line search will terminate.
-    int max_num_line_search_step_size_iterations;
+    int max_num_line_search_step_size_iterations = 20;
 
     // Maximum number of restarts of the line search direction algorithm before
     // terminating the optimization. Restarts of the line search direction
     // algorithm occur when the current algorithm fails to produce a new descent
     // direction. This typically indicates a numerical failure, or a breakdown
     // in the validity of the approximations used.
-    int max_num_line_search_direction_restarts;
+    int max_num_line_search_direction_restarts = 5;
 
     // The strong Wolfe conditions consist of the Armijo sufficient
     // decrease condition, and an additional requirement that the
@@ -204,7 +180,7 @@ class CERES_EXPORT GradientProblemSolver {
     //
     // Where f() is the line search objective and f'() is the derivative
     // of f w.r.t step_size (d f / d step_size).
-    double line_search_sufficient_curvature_decrease;
+    double line_search_sufficient_curvature_decrease = 0.9;
 
     // During the bracketing phase of the Wolfe search, the step size is
     // increased until either a point satisfying the Wolfe conditions is
@@ -215,36 +191,49 @@ class CERES_EXPORT GradientProblemSolver {
     //   new_step_size <= max_step_expansion * step_size.
     //
     // By definition for expansion, max_step_expansion > 1.0.
-    double max_line_search_step_expansion;
+    double max_line_search_step_expansion = 10.0;
 
     // Maximum number of iterations for the minimizer to run for.
-    int max_num_iterations;
+    int max_num_iterations = 50;
 
     // Maximum time for which the minimizer should run for.
-    double max_solver_time_in_seconds;
+    double max_solver_time_in_seconds = 1e9;
 
     // Minimizer terminates when
     //
     //   (new_cost - old_cost) < function_tolerance * old_cost;
     //
-    double function_tolerance;
+    double function_tolerance = 1e-6;
 
     // Minimizer terminates when
     //
     //   max_i |x - Project(Plus(x, -g(x))| < gradient_tolerance
     //
     // This value should typically be 1e-4 * function_tolerance.
-    double gradient_tolerance;
+    double gradient_tolerance = 1e-10;
+
+    // Minimizer terminates when
+    //
+    //   |step|_2 <= parameter_tolerance * ( |x|_2 +  parameter_tolerance)
+    //
+    double parameter_tolerance = 1e-8;
 
     // Logging options ---------------------------------------------------------
 
-    LoggingType logging_type;
+    LoggingType logging_type = PER_MINIMIZER_ITERATION;
 
     // By default the Minimizer progress is logged to VLOG(1), which
     // is sent to STDERR depending on the vlog level. If this flag is
     // set to true, and logging_type is not SILENT, the logging output
     // is sent to STDOUT.
-    bool minimizer_progress_to_stdout;
+    bool minimizer_progress_to_stdout = false;
+
+    // If true, the user's parameter blocks are updated at the end of
+    // every Minimizer iteration, otherwise they are updated when the
+    // Minimizer terminates. This is useful if, for example, the user
+    // wishes to visualize the state of the optimization every
+    // iteration.
+    bool update_state_every_iteration = false;
 
     // Callbacks that are executed at the end of each iteration of the
     // Minimizer. An iteration may terminate midway, either due to
@@ -265,8 +254,6 @@ class CERES_EXPORT GradientProblemSolver {
   };
 
   struct CERES_EXPORT Summary {
-    Summary();
-
     // A brief one line description of the state of the solver after
     // termination.
     std::string BriefReport() const;
@@ -278,65 +265,72 @@ class CERES_EXPORT GradientProblemSolver {
     bool IsSolutionUsable() const;
 
     // Minimizer summary -------------------------------------------------
-    TerminationType termination_type;
+    TerminationType termination_type = FAILURE;
 
     // Reason why the solver terminated.
-    std::string message;
+    std::string message = "ceres::GradientProblemSolve was not called.";
 
     // Cost of the problem (value of the objective function) before
     // the optimization.
-    double initial_cost;
+    double initial_cost = -1.0;
 
     // Cost of the problem (value of the objective function) after the
     // optimization.
-    double final_cost;
+    double final_cost = -1.0;
 
     // IterationSummary for each minimizer iteration in order.
     std::vector<IterationSummary> iterations;
 
+    // Number of times the cost (and not the gradient) was evaluated.
+    int num_cost_evaluations = -1;
+
+    // Number of times the gradient (and the cost) were evaluated.
+    int num_gradient_evaluations = -1;
+
     // Sum total of all time spent inside Ceres when Solve is called.
-    double total_time_in_seconds;
+    double total_time_in_seconds = -1.0;
 
     // Time (in seconds) spent evaluating the cost.
-    double cost_evaluation_time_in_seconds;
+    double cost_evaluation_time_in_seconds = -1.0;
 
     // Time (in seconds) spent evaluating the gradient.
-    double gradient_evaluation_time_in_seconds;
+    double gradient_evaluation_time_in_seconds = -1.0;
 
     // Time (in seconds) spent minimizing the interpolating polynomial
     // to compute the next candidate step size as part of a line search.
-    double line_search_polynomial_minimization_time_in_seconds;
+    double line_search_polynomial_minimization_time_in_seconds = -1.0;
 
-    // Number of parameters in the probem.
-    int num_parameters;
+    // Number of parameters in the problem.
+    int num_parameters = -1;
 
     // Dimension of the tangent space of the problem.
-    int num_local_parameters;
+    int num_local_parameters = -1;
 
     // Type of line search direction used.
-    LineSearchDirectionType line_search_direction_type;
+    LineSearchDirectionType line_search_direction_type = LBFGS;
 
     // Type of the line search algorithm used.
-    LineSearchType line_search_type;
+    LineSearchType line_search_type = WOLFE;
 
     //  When performing line search, the degree of the polynomial used
     //  to approximate the objective function.
-    LineSearchInterpolationType line_search_interpolation_type;
+    LineSearchInterpolationType line_search_interpolation_type = CUBIC;
 
     // If the line search direction is NONLINEAR_CONJUGATE_GRADIENT,
     // then this indicates the particular variant of non-linear
     // conjugate gradient used.
-    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type;
+    NonlinearConjugateGradientType nonlinear_conjugate_gradient_type =
+        FLETCHER_REEVES;
 
     // If the type of the line search direction is LBFGS, then this
     // indicates the rank of the Hessian approximation.
-    int max_lbfgs_rank;
+    int max_lbfgs_rank = -1;
   };
 
   // Once a least squares problem has been built, this function takes
   // the problem and optimizes it based on the values of the options
   // parameters. Upon return, a detailed summary of the work performed
-  // by the preprocessor, the non-linear minmizer and the linear
+  // by the preprocessor, the non-linear minimizer and the linear
   // solver are reported in the summary object.
   virtual void Solve(const GradientProblemSolver::Options& options,
                      const GradientProblem& problem,

extern/ceres/include/ceres/internal/array_selector.h

@@ -0,0 +1,95 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2020 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: darius.rueckert@fau.de (Darius Rueckert)
+//
+
+#ifndef CERES_PUBLIC_INTERNAL_ARRAY_SELECTOR_H_
+#define CERES_PUBLIC_INTERNAL_ARRAY_SELECTOR_H_
+
+#include <array>
+#include <vector>
+
+#include "ceres/internal/fixed_array.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// StaticFixedArray selects the best array implementation based on template
+// arguments. If the size is not known at compile-time, pass
+// ceres::DYNAMIC as a size-template argument.
+//
+// Three different containers are selected in different scenarios:
+//
+//   num_elements == DYNAMIC:
+//      -> ceres::internal::FixedArray<T, max_stack_size>(size)
+
+//   num_elements != DYNAMIC  &&  num_elements <= max_stack_size
+//      -> std::array<T,num_elements>
+
+//   num_elements != DYNAMIC  &&  num_elements >  max_stack_size
+//      -> std::vector<T>(num_elements)
+//
+template <typename T,
+          int num_elements,
+          int max_num_elements_on_stack,
+          bool dynamic = (num_elements == DYNAMIC),
+          bool fits_on_stack = (num_elements <= max_num_elements_on_stack)>
+struct ArraySelector {};
+
+template <typename T,
+          int num_elements,
+          int max_num_elements_on_stack,
+          bool fits_on_stack>
+struct ArraySelector<T,
+                     num_elements,
+                     max_num_elements_on_stack,
+                     true,
+                     fits_on_stack>
+    : ceres::internal::FixedArray<T, max_num_elements_on_stack> {
+  ArraySelector(int s)
+      : ceres::internal::FixedArray<T, max_num_elements_on_stack>(s) {}
+};
+
+template <typename T, int num_elements, int max_num_elements_on_stack>
+struct ArraySelector<T, num_elements, max_num_elements_on_stack, false, true>
+    : std::array<T, num_elements> {
+  ArraySelector(int s) { CHECK_EQ(s, num_elements); }
+};
+
+template <typename T, int num_elements, int max_num_elements_on_stack>
+struct ArraySelector<T, num_elements, max_num_elements_on_stack, false, false>
+    : std::vector<T> {
+  ArraySelector(int s) : std::vector<T>(s) { CHECK_EQ(s, num_elements); }
+};
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_ARRAY_SELECTOR_H_

extern/ceres/include/ceres/internal/autodiff.h

@@ -1,5 +1,5 @@
 // Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2019 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // Redistribution and use in source and binary forms, with or without
@@ -30,10 +30,10 @@
 //
 // Computation of the Jacobian matrix for vector-valued functions of multiple
 // variables, using automatic differentiation based on the implementation of
-// dual numbers in jet.h. Before reading the rest of this file, it is adivsable
+// dual numbers in jet.h. Before reading the rest of this file, it is advisable
 // to read jet.h's header comment in detail.
 //
-// The helper wrapper AutoDiff::Differentiate() computes the jacobian of
+// The helper wrapper AutoDifferentiate() computes the jacobian of
 // functors with templated operator() taking this form:
 //
 //   struct F {
@@ -57,7 +57,7 @@
 //                [ * ]
 //
 // Similar to the 2-parameter example for f described in jet.h, computing the
-// jacobian dy/dx is done by substutiting a suitable jet object for x and all
+// jacobian dy/dx is done by substituting a suitable jet object for x and all
 // intermediate steps of the computation of F. Since x is has 4 dimensions, use
 // a Jet<double, 4>.
 //
@@ -142,16 +142,33 @@
 
 #include <stddef.h>
 
-#include "ceres/jet.h"
+#include <array>
+#include <utility>
+
+#include "ceres/internal/array_selector.h"
 #include "ceres/internal/eigen.h"
 #include "ceres/internal/fixed_array.h"
+#include "ceres/internal/parameter_dims.h"
 #include "ceres/internal/variadic_evaluate.h"
+#include "ceres/jet.h"
+#include "ceres/types.h"
 #include "glog/logging.h"
 
+// If the number of parameters exceeds this values, the corresponding jets are
+// placed on the heap. This will reduce performance by a factor of 2-5 on
+// current compilers.
+#ifndef CERES_AUTODIFF_MAX_PARAMETERS_ON_STACK
+#define CERES_AUTODIFF_MAX_PARAMETERS_ON_STACK 50
+#endif
+
+#ifndef CERES_AUTODIFF_MAX_RESIDUALS_ON_STACK
+#define CERES_AUTODIFF_MAX_RESIDUALS_ON_STACK 20
+#endif
+
 namespace ceres {
 namespace internal {
 
-// Extends src by a 1st order pertubation for every dimension and puts it in
+// Extends src by a 1st order perturbation for every dimension and puts it in
 // dst. The size of src is N. Since this is also used for perturbations in
 // blocked arrays, offset is used to shift which part of the jet the
 // perturbation occurs. This is used to set up the extended x augmented by an
@@ -165,21 +182,62 @@ namespace internal {
 //
 // is what would get put in dst if N was 3, offset was 3, and the jet type JetT
 // was 8-dimensional.
-template <typename JetT, typename T, int N>
-inline void Make1stOrderPerturbation(int offset, const T* src, JetT* dst) {
-  DCHECK(src);
-  DCHECK(dst);
-  for (int j = 0; j < N; ++j) {
-    dst[j].a = src[j];
-    dst[j].v.setZero();
-    dst[j].v[offset + j] = T(1.0);
+template <int j, int N, int Offset, typename T, typename JetT>
+struct Make1stOrderPerturbation {
+ public:
+  inline static void Apply(const T* src, JetT* dst) {
+    if (j == 0) {
+      DCHECK(src);
+      DCHECK(dst);
+    }
+    dst[j] = JetT(src[j], j + Offset);
+    Make1stOrderPerturbation<j + 1, N, Offset, T, JetT>::Apply(src, dst);
   }
-}
+};
+
+template <int N, int Offset, typename T, typename JetT>
+struct Make1stOrderPerturbation<N, N, Offset, T, JetT> {
+ public:
+  static void Apply(const T* /*src*/, JetT* /*dst*/) {}
+};
+
+// Calls Make1stOrderPerturbation for every parameter block.
+//
+// Example:
+// If one having three parameter blocks with dimensions (3, 2, 4), the call
+// Make1stOrderPerturbations<integer_sequence<3, 2, 4>::Apply(params, x);
+// will result in the following calls to Make1stOrderPerturbation:
+// Make1stOrderPerturbation<0, 3, 0>::Apply(params[0], x + 0);
+// Make1stOrderPerturbation<0, 2, 3>::Apply(params[1], x + 3);
+// Make1stOrderPerturbation<0, 4, 5>::Apply(params[2], x + 5);
+template <typename Seq, int ParameterIdx = 0, int Offset = 0>
+struct Make1stOrderPerturbations;
+
+template <int N, int... Ns, int ParameterIdx, int Offset>
+struct Make1stOrderPerturbations<std::integer_sequence<int, N, Ns...>,
+                                 ParameterIdx,
+                                 Offset> {
+  template <typename T, typename JetT>
+  inline static void Apply(T const* const* parameters, JetT* x) {
+    Make1stOrderPerturbation<0, N, Offset, T, JetT>::Apply(
+        parameters[ParameterIdx], x + Offset);
+    Make1stOrderPerturbations<std::integer_sequence<int, Ns...>,
+                              ParameterIdx + 1,
+                              Offset + N>::Apply(parameters, x);
+  }
+};
+
+// End of 'recursion'. Nothing more to do.
+template <int ParameterIdx, int Total>
+struct Make1stOrderPerturbations<std::integer_sequence<int>, ParameterIdx, Total> {
+  template <typename T, typename JetT>
+  static void Apply(T const* const* /* NOT USED */, JetT* /* NOT USED */) {}
+};
 
 // Takes the 0th order part of src, assumed to be a Jet type, and puts it in
 // dst. This is used to pick out the "vector" part of the extended y.
 template <typename JetT, typename T>
-inline void Take0thOrderPart(int M, const JetT *src, T dst) {
+inline void Take0thOrderPart(int M, const JetT* src, T dst) {
   DCHECK(src);
   for (int i = 0; i < M; ++i) {
     dst[i] = src[i].a;
@@ -188,129 +246,118 @@ inline void Take0thOrderPart(int M, const JetT *src, T dst) {
 
 // Takes N 1st order parts, starting at index N0, and puts them in the M x N
 // matrix 'dst'. This is used to pick out the "matrix" parts of the extended y.
-template <typename JetT, typename T, int N0, int N>
-inline void Take1stOrderPart(const int M, const JetT *src, T *dst) {
+template <int N0, int N, typename JetT, typename T>
+inline void Take1stOrderPart(const int M, const JetT* src, T* dst) {
   DCHECK(src);
   DCHECK(dst);
   for (int i = 0; i < M; ++i) {
-    Eigen::Map<Eigen::Matrix<T, N, 1> >(dst + N * i, N) =
+    Eigen::Map<Eigen::Matrix<T, N, 1>>(dst + N * i, N) =
         src[i].v.template segment<N>(N0);
   }
 }
 
-// This is in a struct because default template parameters on a
-// function are not supported in C++03 (though it is available in
-// C++0x). N0 through N5 are the dimension of the input arguments to
-// the user supplied functor.
-template <typename Functor, typename T,
-          int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
-          int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
-struct AutoDiff {
-  static bool Differentiate(const Functor& functor,
-                            T const *const *parameters,
-                            int num_outputs,
-                            T *function_value,
-                            T **jacobians) {
-    // This block breaks the 80 column rule to keep it somewhat readable.
-    DCHECK_GT(num_outputs, 0);
-    DCHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
-           ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
-           ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                                   // NOLINT
-           ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||                              // NOLINT
-           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||                         // NOLINT
-           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||                    // NOLINT
-           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||               // NOLINT
-           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||          // NOLINT
-           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||     // NOLINT
-           ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))  // NOLINT
-        << "Zero block cannot precede a non-zero block. Block sizes are "
-        << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
-        << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
-        << N8 << ", " << N9;
+// Calls Take1stOrderPart for every parameter block.
+//
+// Example:
+// If one having three parameter blocks with dimensions (3, 2, 4), the call
+// Take1stOrderParts<integer_sequence<3, 2, 4>::Apply(num_outputs,
+//                                                    output,
+//                                                    jacobians);
+// will result in the following calls to Take1stOrderPart:
+// if (jacobians[0]) {
+//   Take1stOrderPart<0, 3>(num_outputs, output, jacobians[0]);
+// }
+// if (jacobians[1]) {
+//   Take1stOrderPart<3, 2>(num_outputs, output, jacobians[1]);
+// }
+// if (jacobians[2]) {
+//   Take1stOrderPart<5, 4>(num_outputs, output, jacobians[2]);
+// }
+template <typename Seq, int ParameterIdx = 0, int Offset = 0>
+struct Take1stOrderParts;
 
-    typedef Jet<T, N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9> JetT;
-    FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(
-        N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9 + num_outputs);
-
-    // These are the positions of the respective jets in the fixed array x.
-    const int jet0  = 0;
-    const int jet1  = N0;
-    const int jet2  = N0 + N1;
-    const int jet3  = N0 + N1 + N2;
-    const int jet4  = N0 + N1 + N2 + N3;
-    const int jet5  = N0 + N1 + N2 + N3 + N4;
-    const int jet6  = N0 + N1 + N2 + N3 + N4 + N5;
-    const int jet7  = N0 + N1 + N2 + N3 + N4 + N5 + N6;
-    const int jet8  = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7;
-    const int jet9  = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8;
-
-    const JetT *unpacked_parameters[10] = {
-        x.get() + jet0,
-        x.get() + jet1,
-        x.get() + jet2,
-        x.get() + jet3,
-        x.get() + jet4,
-        x.get() + jet5,
-        x.get() + jet6,
-        x.get() + jet7,
-        x.get() + jet8,
-        x.get() + jet9,
-    };
-
-    JetT* output = x.get() + N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9;
-
-#define CERES_MAKE_1ST_ORDER_PERTURBATION(i)                            \
-    if (N ## i) {                                                       \
-      internal::Make1stOrderPerturbation<JetT, T, N ## i>(              \
-          jet ## i,                                                     \
-          parameters[i],                                                \
-          x.get() + jet ## i);                                          \
+template <int N, int... Ns, int ParameterIdx, int Offset>
+struct Take1stOrderParts<std::integer_sequence<int, N, Ns...>,
+                         ParameterIdx,
+                         Offset> {
+  template <typename JetT, typename T>
+  inline static void Apply(int num_outputs, JetT* output, T** jacobians) {
+    if (jacobians[ParameterIdx]) {
+      Take1stOrderPart<Offset, N>(num_outputs, output, jacobians[ParameterIdx]);
     }
-    CERES_MAKE_1ST_ORDER_PERTURBATION(0);
-    CERES_MAKE_1ST_ORDER_PERTURBATION(1);
-    CERES_MAKE_1ST_ORDER_PERTURBATION(2);
-    CERES_MAKE_1ST_ORDER_PERTURBATION(3);
-    CERES_MAKE_1ST_ORDER_PERTURBATION(4);
-    CERES_MAKE_1ST_ORDER_PERTURBATION(5);
-    CERES_MAKE_1ST_ORDER_PERTURBATION(6);
-    CERES_MAKE_1ST_ORDER_PERTURBATION(7);
-    CERES_MAKE_1ST_ORDER_PERTURBATION(8);
-    CERES_MAKE_1ST_ORDER_PERTURBATION(9);
-#undef CERES_MAKE_1ST_ORDER_PERTURBATION
-
-    if (!VariadicEvaluate<Functor, JetT,
-                          N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Call(
-        functor, unpacked_parameters, output)) {
-      return false;
-    }
-
-    internal::Take0thOrderPart(num_outputs, output, function_value);
-
-#define CERES_TAKE_1ST_ORDER_PERTURBATION(i) \
-    if (N ## i) { \
-      if (jacobians[i]) { \
-        internal::Take1stOrderPart<JetT, T, \
-                                   jet ## i, \
-                                   N ## i>(num_outputs, \
-                                           output, \
-                                           jacobians[i]); \
-      } \
-    }
-    CERES_TAKE_1ST_ORDER_PERTURBATION(0);
-    CERES_TAKE_1ST_ORDER_PERTURBATION(1);
-    CERES_TAKE_1ST_ORDER_PERTURBATION(2);
-    CERES_TAKE_1ST_ORDER_PERTURBATION(3);
-    CERES_TAKE_1ST_ORDER_PERTURBATION(4);
-    CERES_TAKE_1ST_ORDER_PERTURBATION(5);
-    CERES_TAKE_1ST_ORDER_PERTURBATION(6);
-    CERES_TAKE_1ST_ORDER_PERTURBATION(7);
-    CERES_TAKE_1ST_ORDER_PERTURBATION(8);
-    CERES_TAKE_1ST_ORDER_PERTURBATION(9);
-#undef CERES_TAKE_1ST_ORDER_PERTURBATION
-    return true;
+    Take1stOrderParts<std::integer_sequence<int, Ns...>,
+                      ParameterIdx + 1,
+                      Offset + N>::Apply(num_outputs, output, jacobians);
   }
 };
 
+// End of 'recursion'. Nothing more to do.
+template <int ParameterIdx, int Offset>
+struct Take1stOrderParts<std::integer_sequence<int>, ParameterIdx, Offset> {
+  template <typename T, typename JetT>
+  static void Apply(int /* NOT USED*/,
+                    JetT* /* NOT USED*/,
+                    T** /* NOT USED */) {}
+};
+
+template <int kNumResiduals,
+          typename ParameterDims,
+          typename Functor,
+          typename T>
+inline bool AutoDifferentiate(const Functor& functor,
+                              T const* const* parameters,
+                              int dynamic_num_outputs,
+                              T* function_value,
+                              T** jacobians) {
+  typedef Jet<T, ParameterDims::kNumParameters> JetT;
+  using Parameters = typename ParameterDims::Parameters;
+
+  if (kNumResiduals != DYNAMIC) {
+    DCHECK_EQ(kNumResiduals, dynamic_num_outputs);
+  }
+
+  ArraySelector<JetT,
+                ParameterDims::kNumParameters,
+                CERES_AUTODIFF_MAX_PARAMETERS_ON_STACK>
+      parameters_as_jets(ParameterDims::kNumParameters);
+
+  // Pointers to the beginning of each parameter block
+  std::array<JetT*, ParameterDims::kNumParameterBlocks> unpacked_parameters =
+      ParameterDims::GetUnpackedParameters(parameters_as_jets.data());
+
+  // If the number of residuals is fixed, we use the template argument as the
+  // number of outputs. Otherwise we use the num_outputs parameter. Note: The
+  // ?-operator here is compile-time evaluated, therefore num_outputs is also
+  // a compile-time constant for functors with fixed residuals.
+  const int num_outputs =
+      kNumResiduals == DYNAMIC ? dynamic_num_outputs : kNumResiduals;
+  DCHECK_GT(num_outputs, 0);
+
+  ArraySelector<JetT, kNumResiduals, CERES_AUTODIFF_MAX_RESIDUALS_ON_STACK>
+      residuals_as_jets(num_outputs);
+
+  // Invalidate the output Jets, so that we can detect if the user
+  // did not assign values to all of them.
+  for (int i = 0; i < num_outputs; ++i) {
+    residuals_as_jets[i].a = kImpossibleValue;
+    residuals_as_jets[i].v.setConstant(kImpossibleValue);
+  }
+
+  Make1stOrderPerturbations<Parameters>::Apply(parameters,
+                                               parameters_as_jets.data());
+
+  if (!VariadicEvaluate<ParameterDims>(
+          functor, unpacked_parameters.data(), residuals_as_jets.data())) {
+    return false;
+  }
+
+  Take0thOrderPart(num_outputs, residuals_as_jets.data(), function_value);
+  Take1stOrderParts<Parameters>::Apply(
+      num_outputs, residuals_as_jets.data(), jacobians);
+
+  return true;
+}
+
 }  // namespace internal
 }  // namespace ceres
 

extern/ceres/include/ceres/internal/disable_warnings.h

@@ -35,7 +35,7 @@
 
 #ifdef _MSC_VER
 #pragma warning( push )
-// Disable the warning C4251 which is trigerred by stl classes in
+// Disable the warning C4251 which is triggered by stl classes in
 // Ceres' public interface. To quote MSDN: "C4251 can be ignored "
 // "if you are deriving from a type in the Standard C++ Library"
 #pragma warning( disable : 4251 )

extern/ceres/include/ceres/internal/eigen.h

@@ -52,40 +52,27 @@ typedef Eigen::Matrix<double,
                       Eigen::ColMajor> ColMajorMatrix;
 
 typedef Eigen::Map<ColMajorMatrix, 0,
-                   Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
+                   Eigen::Stride<Eigen::Dynamic, 1>> ColMajorMatrixRef;
 
 typedef Eigen::Map<const ColMajorMatrix,
                    0,
-                   Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
-
-
+                   Eigen::Stride<Eigen::Dynamic, 1>> ConstColMajorMatrixRef;
 
 // C++ does not support templated typdefs, thus the need for this
 // struct so that we can support statically sized Matrix and Maps.
-template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
+ template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
 struct EigenTypes {
-  typedef Eigen::Matrix <double, num_rows, num_cols, Eigen::RowMajor>
-  Matrix;
+  typedef Eigen::Matrix<double,
+                        num_rows,
+                        num_cols,
+                        num_cols == 1 ? Eigen::ColMajor : Eigen::RowMajor>
+      Matrix;
 
-  typedef Eigen::Map<
-    Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
-  MatrixRef;
-
-  typedef Eigen::Matrix <double, num_rows, 1>
-  Vector;
-
-  typedef Eigen::Map <
-    Eigen::Matrix<double, num_rows, 1> >
-  VectorRef;
-
-
-  typedef Eigen::Map<
-    const Eigen::Matrix<double, num_rows, num_cols, Eigen::RowMajor> >
-  ConstMatrixRef;
-
-  typedef Eigen::Map <
-    const Eigen::Matrix<double, num_rows, 1> >
-  ConstVectorRef;
+  typedef Eigen::Map<Matrix> MatrixRef;
+  typedef Eigen::Map<const Matrix> ConstMatrixRef;
+  typedef Eigen::Matrix<double, num_rows, 1> Vector;
+  typedef Eigen::Map<Eigen::Matrix<double, num_rows, 1>> VectorRef;
+  typedef Eigen::Map<const Eigen::Matrix<double, num_rows, 1>> ConstVectorRef;
 };
 
 }  // namespace ceres

extern/ceres/include/ceres/internal/fixed_array.h

@@ -1,189 +1,466 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
-// http://ceres-solver.org/
+// Copyright 2018 The Abseil Authors.
 //
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
+//      https://www.apache.org/licenses/LICENSE-2.0
 //
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 //
-// Author: rennie@google.com (Jeffrey Rennie)
-// Author: sanjay@google.com (Sanjay Ghemawat) -- renamed to FixedArray
+// -----------------------------------------------------------------------------
+// File: fixed_array.h
+// -----------------------------------------------------------------------------
+//
+// A `FixedArray<T>` represents a non-resizable array of `T` where the length of
+// the array can be determined at run-time. It is a good replacement for
+// non-standard and deprecated uses of `alloca()` and variable length arrays
+// within the GCC extension. (See
+// https://gcc.gnu.org/onlinedocs/gcc/Variable-Length.html).
+//
+// `FixedArray` allocates small arrays inline, keeping performance fast by
+// avoiding heap operations. It also helps reduce the chances of
+// accidentally overflowing your stack if large input is passed to
+// your function.
 
 #ifndef CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
 #define CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
 
+#include <algorithm>
+#include <array>
 #include <cstddef>
-#include "Eigen/Core"
-#include "ceres/internal/macros.h"
-#include "ceres/internal/manual_constructor.h"
+#include <memory>
+#include <tuple>
+#include <type_traits>
+
+#include <Eigen/Core> // For Eigen::aligned_allocator
+
+#include "ceres/internal/memory.h"
 #include "glog/logging.h"
 
 namespace ceres {
 namespace internal {
 
-// A FixedArray<T> represents a non-resizable array of T where the
-// length of the array does not need to be a compile time constant.
-//
-// FixedArray allocates small arrays inline, and large arrays on
-// the heap.  It is a good replacement for non-standard and deprecated
-// uses of alloca() and variable length arrays (a GCC extension).
-//
-// FixedArray keeps performance fast for small arrays, because it
-// avoids heap operations.  It also helps reduce the chances of
-// accidentally overflowing your stack if large input is passed to
-// your function.
-//
-// Also, FixedArray is useful for writing portable code.  Not all
-// compilers support arrays of dynamic size.
+constexpr static auto kFixedArrayUseDefault = static_cast<size_t>(-1);
 
-// Most users should not specify an inline_elements argument and let
-// FixedArray<> automatically determine the number of elements
-// to store inline based on sizeof(T).
+// The default fixed array allocator.
 //
-// If inline_elements is specified, the FixedArray<> implementation
-// will store arrays of length <= inline_elements inline.
-//
-// Finally note that unlike vector<T> FixedArray<T> will not zero-initialize
-// simple types like int, double, bool, etc.
-//
-// Non-POD types will be default-initialized just like regular vectors or
-// arrays.
+// As one can not easily detect if a struct contains or inherits from a fixed
+// size Eigen type, to be safe the Eigen::aligned_allocator is used by default.
+// But trivial types can never contain Eigen types, so std::allocator is used to
+// safe some heap memory.
+template <typename T>
+using FixedArrayDefaultAllocator =
+    typename std::conditional<std::is_trivial<T>::value,
+                              std::allocator<T>,
+                              Eigen::aligned_allocator<T>>::type;
 
-#if defined(_WIN64)
-   typedef __int64      ssize_t;
-#elif defined(_WIN32)
-   typedef __int32      ssize_t;
-#endif
-
-template <typename T, ssize_t inline_elements = -1>
+// -----------------------------------------------------------------------------
+// FixedArray
+// -----------------------------------------------------------------------------
+//
+// A `FixedArray` provides a run-time fixed-size array, allocating a small array
+// inline for efficiency.
+//
+// Most users should not specify an `inline_elements` argument and let
+// `FixedArray` automatically determine the number of elements
+// to store inline based on `sizeof(T)`. If `inline_elements` is specified, the
+// `FixedArray` implementation will use inline storage for arrays with a
+// length <= `inline_elements`.
+//
+// Note that a `FixedArray` constructed with a `size_type` argument will
+// default-initialize its values by leaving trivially constructible types
+// uninitialized (e.g. int, int[4], double), and others default-constructed.
+// This matches the behavior of c-style arrays and `std::array`, but not
+// `std::vector`.
+//
+// Note that `FixedArray` does not provide a public allocator; if it requires a
+// heap allocation, it will do so with global `::operator new[]()` and
+// `::operator delete[]()`, even if T provides class-scope overrides for these
+// operators.
+template <typename T,
+          size_t N = kFixedArrayUseDefault,
+          typename A = FixedArrayDefaultAllocator<T>>
 class FixedArray {
+  static_assert(!std::is_array<T>::value || std::extent<T>::value > 0,
+                "Arrays with unknown bounds cannot be used with FixedArray.");
+
+  static constexpr size_t kInlineBytesDefault = 256;
+
+  using AllocatorTraits = std::allocator_traits<A>;
+  // std::iterator_traits isn't guaranteed to be SFINAE-friendly until C++17,
+  // but this seems to be mostly pedantic.
+  template <typename Iterator>
+  using EnableIfForwardIterator = typename std::enable_if<std::is_convertible<
+      typename std::iterator_traits<Iterator>::iterator_category,
+      std::forward_iterator_tag>::value>::type;
+  static constexpr bool DefaultConstructorIsNonTrivial() {
+    return !std::is_trivially_default_constructible<StorageElement>::value;
+  }
+
  public:
-  // For playing nicely with stl:
-  typedef T value_type;
-  typedef T* iterator;
-  typedef T const* const_iterator;
-  typedef T& reference;
-  typedef T const& const_reference;
-  typedef T* pointer;
-  typedef std::ptrdiff_t difference_type;
-  typedef size_t size_type;
+  using allocator_type = typename AllocatorTraits::allocator_type;
+  using value_type = typename AllocatorTraits::value_type;
+  using pointer = typename AllocatorTraits::pointer;
+  using const_pointer = typename AllocatorTraits::const_pointer;
+  using reference = value_type&;
+  using const_reference = const value_type&;
+  using size_type = typename AllocatorTraits::size_type;
+  using difference_type = typename AllocatorTraits::difference_type;
+  using iterator = pointer;
+  using const_iterator = const_pointer;
+  using reverse_iterator = std::reverse_iterator<iterator>;
+  using const_reverse_iterator = std::reverse_iterator<const_iterator>;
 
-  // REQUIRES: n >= 0
-  // Creates an array object that can store "n" elements.
+  static constexpr size_type inline_elements =
+      (N == kFixedArrayUseDefault ? kInlineBytesDefault / sizeof(value_type)
+                                  : static_cast<size_type>(N));
+
+  FixedArray(const FixedArray& other,
+             const allocator_type& a = allocator_type())
+      : FixedArray(other.begin(), other.end(), a) {}
+
+  FixedArray(FixedArray&& other, const allocator_type& a = allocator_type())
+      : FixedArray(std::make_move_iterator(other.begin()),
+                   std::make_move_iterator(other.end()),
+                   a) {}
+
+  // Creates an array object that can store `n` elements.
+  // Note that trivially constructible elements will be uninitialized.
+  explicit FixedArray(size_type n, const allocator_type& a = allocator_type())
+      : storage_(n, a) {
+    if (DefaultConstructorIsNonTrivial()) {
+      ConstructRange(storage_.alloc(), storage_.begin(), storage_.end());
+    }
+  }
+
+  // Creates an array initialized with `n` copies of `val`.
+  FixedArray(size_type n,
+             const value_type& val,
+             const allocator_type& a = allocator_type())
+      : storage_(n, a) {
+    ConstructRange(storage_.alloc(), storage_.begin(), storage_.end(), val);
+  }
+
+  // Creates an array initialized with the size and contents of `init_list`.
+  FixedArray(std::initializer_list<value_type> init_list,
+             const allocator_type& a = allocator_type())
+      : FixedArray(init_list.begin(), init_list.end(), a) {}
+
+  // Creates an array initialized with the elements from the input
+  // range. The array's size will always be `std::distance(first, last)`.
+  // REQUIRES: Iterator must be a forward_iterator or better.
+  template <typename Iterator, EnableIfForwardIterator<Iterator>* = nullptr>
+  FixedArray(Iterator first,
+             Iterator last,
+             const allocator_type& a = allocator_type())
+      : storage_(std::distance(first, last), a) {
+    CopyRange(storage_.alloc(), storage_.begin(), first, last);
+  }
+
+  ~FixedArray() noexcept {
+    for (auto* cur = storage_.begin(); cur != storage_.end(); ++cur) {
+      AllocatorTraits::destroy(storage_.alloc(), cur);
+    }
+  }
+
+  // Assignments are deleted because they break the invariant that the size of a
+  // `FixedArray` never changes.
+  void operator=(FixedArray&&) = delete;
+  void operator=(const FixedArray&) = delete;
+
+  // FixedArray::size()
   //
-  // FixedArray<T> will not zero-initialiaze POD (simple) types like int,
-  // double, bool, etc.
-  // Non-POD types will be default-initialized just like regular vectors or
-  // arrays.
-  explicit FixedArray(size_type n);
+  // Returns the length of the fixed array.
+  size_type size() const { return storage_.size(); }
 
-  // Releases any resources.
-  ~FixedArray();
-
-  // Returns the length of the array.
-  inline size_type size() const { return size_; }
-
-  // Returns the memory size of the array in bytes.
-  inline size_t memsize() const { return size_ * sizeof(T); }
-
-  // Returns a pointer to the underlying element array.
-  inline const T* get() const { return &array_[0].element; }
-  inline T* get() { return &array_[0].element; }
-
-  // REQUIRES: 0 <= i < size()
-  // Returns a reference to the "i"th element.
-  inline T& operator[](size_type i) {
-    DCHECK_LT(i, size_);
-    return array_[i].element;
+  // FixedArray::max_size()
+  //
+  // Returns the largest possible value of `std::distance(begin(), end())` for a
+  // `FixedArray<T>`. This is equivalent to the most possible addressable bytes
+  // over the number of bytes taken by T.
+  constexpr size_type max_size() const {
+    return (std::numeric_limits<difference_type>::max)() / sizeof(value_type);
   }
 
+  // FixedArray::empty()
+  //
+  // Returns whether or not the fixed array is empty.
+  bool empty() const { return size() == 0; }
+
+  // FixedArray::memsize()
+  //
+  // Returns the memory size of the fixed array in bytes.
+  size_t memsize() const { return size() * sizeof(value_type); }
+
+  // FixedArray::data()
+  //
+  // Returns a const T* pointer to elements of the `FixedArray`. This pointer
+  // can be used to access (but not modify) the contained elements.
+  const_pointer data() const { return AsValueType(storage_.begin()); }
+
+  // Overload of FixedArray::data() to return a T* pointer to elements of the
+  // fixed array. This pointer can be used to access and modify the contained
+  // elements.
+  pointer data() { return AsValueType(storage_.begin()); }
+
+  // FixedArray::operator[]
+  //
+  // Returns a reference the ith element of the fixed array.
   // REQUIRES: 0 <= i < size()
-  // Returns a reference to the "i"th element.
-  inline const T& operator[](size_type i) const {
-    DCHECK_LT(i, size_);
-    return array_[i].element;
+  reference operator[](size_type i) {
+    DCHECK_LT(i, size());
+    return data()[i];
   }
 
-  inline iterator begin() { return &array_[0].element; }
-  inline iterator end() { return &array_[size_].element; }
+  // Overload of FixedArray::operator()[] to return a const reference to the
+  // ith element of the fixed array.
+  // REQUIRES: 0 <= i < size()
+  const_reference operator[](size_type i) const {
+    DCHECK_LT(i, size());
+    return data()[i];
+  }
 
-  inline const_iterator begin() const { return &array_[0].element; }
-  inline const_iterator end() const { return &array_[size_].element; }
+  // FixedArray::front()
+  //
+  // Returns a reference to the first element of the fixed array.
+  reference front() { return *begin(); }
+
+  // Overload of FixedArray::front() to return a reference to the first element
+  // of a fixed array of const values.
+  const_reference front() const { return *begin(); }
+
+  // FixedArray::back()
+  //
+  // Returns a reference to the last element of the fixed array.
+  reference back() { return *(end() - 1); }
+
+  // Overload of FixedArray::back() to return a reference to the last element
+  // of a fixed array of const values.
+  const_reference back() const { return *(end() - 1); }
+
+  // FixedArray::begin()
+  //
+  // Returns an iterator to the beginning of the fixed array.
+  iterator begin() { return data(); }
+
+  // Overload of FixedArray::begin() to return a const iterator to the
+  // beginning of the fixed array.
+  const_iterator begin() const { return data(); }
+
+  // FixedArray::cbegin()
+  //
+  // Returns a const iterator to the beginning of the fixed array.
+  const_iterator cbegin() const { return begin(); }
+
+  // FixedArray::end()
+  //
+  // Returns an iterator to the end of the fixed array.
+  iterator end() { return data() + size(); }
+
+  // Overload of FixedArray::end() to return a const iterator to the end of the
+  // fixed array.
+  const_iterator end() const { return data() + size(); }
+
+  // FixedArray::cend()
+  //
+  // Returns a const iterator to the end of the fixed array.
+  const_iterator cend() const { return end(); }
+
+  // FixedArray::rbegin()
+  //
+  // Returns a reverse iterator from the end of the fixed array.
+  reverse_iterator rbegin() { return reverse_iterator(end()); }
+
+  // Overload of FixedArray::rbegin() to return a const reverse iterator from
+  // the end of the fixed array.
+  const_reverse_iterator rbegin() const {
+    return const_reverse_iterator(end());
+  }
+
+  // FixedArray::crbegin()
+  //
+  // Returns a const reverse iterator from the end of the fixed array.
+  const_reverse_iterator crbegin() const { return rbegin(); }
+
+  // FixedArray::rend()
+  //
+  // Returns a reverse iterator from the beginning of the fixed array.
+  reverse_iterator rend() { return reverse_iterator(begin()); }
+
+  // Overload of FixedArray::rend() for returning a const reverse iterator
+  // from the beginning of the fixed array.
+  const_reverse_iterator rend() const {
+    return const_reverse_iterator(begin());
+  }
+
+  // FixedArray::crend()
+  //
+  // Returns a reverse iterator from the beginning of the fixed array.
+  const_reverse_iterator crend() const { return rend(); }
+
+  // FixedArray::fill()
+  //
+  // Assigns the given `value` to all elements in the fixed array.
+  void fill(const value_type& val) { std::fill(begin(), end(), val); }
+
+  // Relational operators. Equality operators are elementwise using
+  // `operator==`, while order operators order FixedArrays lexicographically.
+  friend bool operator==(const FixedArray& lhs, const FixedArray& rhs) {
+    return std::equal(lhs.begin(), lhs.end(), rhs.begin(), rhs.end());
+  }
+
+  friend bool operator!=(const FixedArray& lhs, const FixedArray& rhs) {
+    return !(lhs == rhs);
+  }
+
+  friend bool operator<(const FixedArray& lhs, const FixedArray& rhs) {
+    return std::lexicographical_compare(
+        lhs.begin(), lhs.end(), rhs.begin(), rhs.end());
+  }
+
+  friend bool operator>(const FixedArray& lhs, const FixedArray& rhs) {
+    return rhs < lhs;
+  }
+
+  friend bool operator<=(const FixedArray& lhs, const FixedArray& rhs) {
+    return !(rhs < lhs);
+  }
+
+  friend bool operator>=(const FixedArray& lhs, const FixedArray& rhs) {
+    return !(lhs < rhs);
+  }
 
  private:
-  // Container to hold elements of type T.  This is necessary to handle
-  // the case where T is a a (C-style) array.  The size of InnerContainer
-  // and T must be the same, otherwise callers' assumptions about use
-  // of this code will be broken.
-  struct InnerContainer {
-    T element;
+  // StorageElement
+  //
+  // For FixedArrays with a C-style-array value_type, StorageElement is a POD
+  // wrapper struct called StorageElementWrapper that holds the value_type
+  // instance inside. This is needed for construction and destruction of the
+  // entire array regardless of how many dimensions it has. For all other cases,
+  // StorageElement is just an alias of value_type.
+  //
+  // Maintainer's Note: The simpler solution would be to simply wrap value_type
+  // in a struct whether it's an array or not. That causes some paranoid
+  // diagnostics to misfire, believing that 'data()' returns a pointer to a
+  // single element, rather than the packed array that it really is.
+  // e.g.:
+  //
+  //     FixedArray<char> buf(1);
+  //     sprintf(buf.data(), "foo");
+  //
+  //     error: call to int __builtin___sprintf_chk(etc...)
+  //     will always overflow destination buffer [-Werror]
+  //
+  template <typename OuterT,
+            typename InnerT = typename std::remove_extent<OuterT>::type,
+            size_t InnerN = std::extent<OuterT>::value>
+  struct StorageElementWrapper {
+    InnerT array[InnerN];
   };
 
-  // How many elements should we store inline?
-  //   a. If not specified, use a default of 256 bytes (256 bytes
-  //      seems small enough to not cause stack overflow or unnecessary
-  //      stack pollution, while still allowing stack allocation for
-  //      reasonably long character arrays.
-  //   b. Never use 0 length arrays (not ISO C++)
-  static const size_type S1 = ((inline_elements < 0)
-                               ? (256/sizeof(T)) : inline_elements);
-  static const size_type S2 = (S1 <= 0) ? 1 : S1;
-  static const size_type kInlineElements = S2;
+  using StorageElement =
+      typename std::conditional<std::is_array<value_type>::value,
+                                StorageElementWrapper<value_type>,
+                                value_type>::type;
 
-  size_type const       size_;
-  InnerContainer* const array_;
+  static pointer AsValueType(pointer ptr) { return ptr; }
+  static pointer AsValueType(StorageElementWrapper<value_type>* ptr) {
+    return std::addressof(ptr->array);
+  }
 
-  // Allocate some space, not an array of elements of type T, so that we can
-  // skip calling the T constructors and destructors for space we never use.
-  ManualConstructor<InnerContainer> inline_space_[kInlineElements];
+  static_assert(sizeof(StorageElement) == sizeof(value_type), "");
+  static_assert(alignof(StorageElement) == alignof(value_type), "");
+
+  class NonEmptyInlinedStorage {
+   public:
+    StorageElement* data() { return reinterpret_cast<StorageElement*>(buff_); }
+    void AnnotateConstruct(size_type) {}
+    void AnnotateDestruct(size_type) {}
+
+    // #ifdef ADDRESS_SANITIZER
+    //     void* RedzoneBegin() { return &redzone_begin_; }
+    //     void* RedzoneEnd() { return &redzone_end_ + 1; }
+    // #endif  // ADDRESS_SANITIZER
+
+   private:
+    // ADDRESS_SANITIZER_REDZONE(redzone_begin_);
+    alignas(StorageElement) char buff_[sizeof(StorageElement[inline_elements])];
+    // ADDRESS_SANITIZER_REDZONE(redzone_end_);
+  };
+
+  class EmptyInlinedStorage {
+   public:
+    StorageElement* data() { return nullptr; }
+    void AnnotateConstruct(size_type) {}
+    void AnnotateDestruct(size_type) {}
+  };
+
+  using InlinedStorage =
+      typename std::conditional<inline_elements == 0,
+                                EmptyInlinedStorage,
+                                NonEmptyInlinedStorage>::type;
+
+  // Storage
+  //
+  // An instance of Storage manages the inline and out-of-line memory for
+  // instances of FixedArray. This guarantees that even when construction of
+  // individual elements fails in the FixedArray constructor body, the
+  // destructor for Storage will still be called and out-of-line memory will be
+  // properly deallocated.
+  //
+  class Storage : public InlinedStorage {
+   public:
+    Storage(size_type n, const allocator_type& a)
+        : size_alloc_(n, a), data_(InitializeData()) {}
+
+    ~Storage() noexcept {
+      if (UsingInlinedStorage(size())) {
+        InlinedStorage::AnnotateDestruct(size());
+      } else {
+        AllocatorTraits::deallocate(alloc(), AsValueType(begin()), size());
+      }
+    }
+
+    size_type size() const { return std::get<0>(size_alloc_); }
+    StorageElement* begin() const { return data_; }
+    StorageElement* end() const { return begin() + size(); }
+    allocator_type& alloc() { return std::get<1>(size_alloc_); }
+
+   private:
+    static bool UsingInlinedStorage(size_type n) {
+      return n <= inline_elements;
+    }
+
+    StorageElement* InitializeData() {
+      if (UsingInlinedStorage(size())) {
+        InlinedStorage::AnnotateConstruct(size());
+        return InlinedStorage::data();
+      } else {
+        return reinterpret_cast<StorageElement*>(
+            AllocatorTraits::allocate(alloc(), size()));
+      }
+    }
+
+    // Using std::tuple and not absl::CompressedTuple, as it has a lot of
+    // dependencies to other absl headers.
+    std::tuple<size_type, allocator_type> size_alloc_;
+    StorageElement* data_;
+  };
+
+  Storage storage_;
 };
 
-// Implementation details follow
+template <typename T, size_t N, typename A>
+constexpr size_t FixedArray<T, N, A>::kInlineBytesDefault;
 
-template <class T, ssize_t S>
-inline FixedArray<T, S>::FixedArray(typename FixedArray<T, S>::size_type n)
-    : size_(n),
-      array_((n <= kInlineElements
-              ? reinterpret_cast<InnerContainer*>(inline_space_)
-              : new InnerContainer[n])) {
-  // Construct only the elements actually used.
-  if (array_ == reinterpret_cast<InnerContainer*>(inline_space_)) {
-    for (size_t i = 0; i != size_; ++i) {
-      inline_space_[i].Init();
-    }
-  }
-}
-
-template <class T, ssize_t S>
-inline FixedArray<T, S>::~FixedArray() {
-  if (array_ != reinterpret_cast<InnerContainer*>(inline_space_)) {
-    delete[] array_;
-  } else {
-    for (size_t i = 0; i != size_; ++i) {
-      inline_space_[i].Destroy();
-    }
-  }
-}
+template <typename T, size_t N, typename A>
+constexpr typename FixedArray<T, N, A>::size_type
+    FixedArray<T, N, A>::inline_elements;
 
 }  // namespace internal
 }  // namespace ceres

extern/ceres/include/ceres/internal/householder_vector.h

@@ -28,8 +28,8 @@
 //
 // Author: vitus@google.com (Michael Vitus)
 
-#ifndef CERES_PUBLIC_HOUSEHOLDER_VECTOR_H_
-#define CERES_PUBLIC_HOUSEHOLDER_VECTOR_H_
+#ifndef CERES_PUBLIC_INTERNAL_HOUSEHOLDER_VECTOR_H_
+#define CERES_PUBLIC_INTERNAL_HOUSEHOLDER_VECTOR_H_
 
 #include "Eigen/Core"
 #include "glog/logging.h"
@@ -42,12 +42,15 @@ namespace internal {
 // vector as pivot instead of first. This computes the vector v with v(n) = 1
 // and beta such that H = I - beta * v * v^T is orthogonal and
 // H * x = ||x||_2 * e_n.
-template <typename Scalar>
-void ComputeHouseholderVector(const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x,
-                              Eigen::Matrix<Scalar, Eigen::Dynamic, 1>* v,
+//
+// NOTE: Some versions of MSVC have trouble deducing the type of v if
+// you do not specify all the template arguments explicitly.
+template <typename XVectorType, typename Scalar, int N>
+void ComputeHouseholderVector(const XVectorType& x,
+                              Eigen::Matrix<Scalar, N, 1>* v,
                               Scalar* beta) {
-  CHECK_NOTNULL(beta);
-  CHECK_NOTNULL(v);
+  CHECK(beta != nullptr);
+  CHECK(v != nullptr);
   CHECK_GT(x.rows(), 1);
   CHECK_EQ(x.rows(), v->rows());
 
@@ -82,4 +85,4 @@ void ComputeHouseholderVector(const Eigen::Matrix<Scalar, Eigen::Dynamic, 1>& x,
 }  // namespace internal
 }  // namespace ceres
 
-#endif  // CERES_PUBLIC_HOUSEHOLDER_VECTOR_H_
+#endif  // CERES_PUBLIC_INTERNAL_HOUSEHOLDER_VECTOR_H_

extern/ceres/include/ceres/internal/integer_sequence_algorithm.h

@@ -0,0 +1,165 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2018 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: jodebo_beck@gmx.de (Johannes Beck)
+//
+// Algorithms to be used together with integer_sequence, like computing the sum
+// or the exclusive scan (sometimes called exclusive prefix sum) at compile
+// time.
+
+#ifndef CERES_PUBLIC_INTERNAL_INTEGER_SEQUENCE_ALGORITHM_H_
+#define CERES_PUBLIC_INTERNAL_INTEGER_SEQUENCE_ALGORITHM_H_
+
+#include <utility>
+
+namespace ceres {
+namespace internal {
+
+// Implementation of calculating the sum of an integer sequence.
+// Recursively instantiate SumImpl and calculate the sum of the N first
+// numbers. This reduces the number of instantiations and speeds up
+// compilation.
+//
+// Examples:
+// 1) integer_sequence<int, 5>:
+//   Value = 5
+//
+// 2) integer_sequence<int, 4, 2>:
+//   Value = 4 + 2 + SumImpl<integer_sequence<int>>::Value
+//   Value = 4 + 2 + 0
+//
+// 3) integer_sequence<int, 2, 1, 4>:
+//   Value = 2 + 1 + SumImpl<integer_sequence<int, 4>>::Value
+//   Value = 2 + 1 + 4
+template <typename Seq>
+struct SumImpl;
+
+// Strip of and sum the first number.
+template <typename T, T N, T... Ns>
+struct SumImpl<std::integer_sequence<T, N, Ns...>> {
+  static constexpr T Value = N + SumImpl<std::integer_sequence<T, Ns...>>::Value;
+};
+
+// Strip of and sum the first two numbers.
+template <typename T, T N1, T N2, T... Ns>
+struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> {
+  static constexpr T Value =
+      N1 + N2 + SumImpl<std::integer_sequence<T, Ns...>>::Value;
+};
+
+// Strip of and sum the first four numbers.
+template <typename T, T N1, T N2, T N3, T N4, T... Ns>
+struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> {
+  static constexpr T Value =
+      N1 + N2 + N3 + N4 + SumImpl<std::integer_sequence<T, Ns...>>::Value;
+};
+
+// Only one number is left. 'Value' is just that number ('recursion' ends).
+template <typename T, T N>
+struct SumImpl<std::integer_sequence<T, N>> {
+  static constexpr T Value = N;
+};
+
+// No number is left. 'Value' is the identity element (for sum this is zero).
+template <typename T>
+struct SumImpl<std::integer_sequence<T>> {
+  static constexpr T Value = T(0);
+};
+
+// Calculate the sum of an integer sequence. The resulting sum will be stored in
+// 'Value'.
+template <typename Seq>
+class Sum {
+  using T = typename Seq::value_type;
+
+ public:
+  static constexpr T Value = SumImpl<Seq>::Value;
+};
+
+// Implementation of calculating an exclusive scan (exclusive prefix sum) of an
+// integer sequence. Exclusive means that the i-th input element is not included
+// in the i-th sum. Calculating the exclusive scan for an input array I results
+// in the following output R:
+//
+// R[0] = 0
+// R[1] = I[0];
+// R[2] = I[0] + I[1];
+// R[3] = I[0] + I[1] + I[2];
+// ...
+//
+// In C++17 std::exclusive_scan does the same operation at runtime (but
+// cannot be used to calculate the prefix sum at compile time). See
+// https://en.cppreference.com/w/cpp/algorithm/exclusive_scan for a more
+// detailed description.
+//
+// Example for integer_sequence<int, 1, 4, 3> (seq := integer_sequence):
+//                   T  , Sum,          Ns...   ,          Rs...
+// ExclusiveScanImpl<int,   0, seq<int, 1, 4, 3>, seq<int         >>
+// ExclusiveScanImpl<int,   1, seq<int,    4, 3>, seq<int, 0      >>
+// ExclusiveScanImpl<int,   5, seq<int,       3>, seq<int, 0, 1   >>
+// ExclusiveScanImpl<int,   8, seq<int         >, seq<int, 0, 1, 5>>
+//                                                ^^^^^^^^^^^^^^^^^
+//                                                resulting sequence
+template <typename T, T Sum, typename SeqIn, typename SeqOut>
+struct ExclusiveScanImpl;
+
+template <typename T, T Sum, T N, T... Ns, T... Rs>
+struct ExclusiveScanImpl<T, Sum, std::integer_sequence<T, N, Ns...>,
+                         std::integer_sequence<T, Rs...>> {
+  using Type =
+      typename ExclusiveScanImpl<T, Sum + N, std::integer_sequence<T, Ns...>,
+                                 std::integer_sequence<T, Rs..., Sum>>::Type;
+};
+
+// End of 'recursion'. The resulting type is SeqOut.
+template <typename T, T Sum, typename SeqOut>
+struct ExclusiveScanImpl<T, Sum, std::integer_sequence<T>, SeqOut> {
+  using Type = SeqOut;
+};
+
+// Calculates the exclusive scan of the specified integer sequence. The last
+// element (the total) is not included in the resulting sequence so they have
+// same length. This means the exclusive scan of integer_sequence<int, 1, 2, 3>
+// will be integer_sequence<int, 0, 1, 3>.
+template <typename Seq>
+class ExclusiveScanT {
+  using T = typename Seq::value_type;
+
+ public:
+  using Type =
+      typename ExclusiveScanImpl<T, T(0), Seq, std::integer_sequence<T>>::Type;
+};
+
+// Helper to use exclusive scan without typename.
+template <typename Seq>
+using ExclusiveScan = typename ExclusiveScanT<Seq>::Type;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_INTEGER_SEQUENCE_ALGORITHM_H_

extern/ceres/include/ceres/internal/line_parameterization.h

@@ -0,0 +1,183 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2020 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+//   this list of conditions and the following disclaimer in the documentation
+//   and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+//   used to endorse or promote products derived from this software without
+//   specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: jodebo_beck@gmx.de (Johannes Beck)
+//
+
+#ifndef CERES_PUBLIC_INTERNAL_LINE_PARAMETERIZATION_H_
+#define CERES_PUBLIC_INTERNAL_LINE_PARAMETERIZATION_H_
+
+#include "householder_vector.h"
+
+namespace ceres {
+
+template <int AmbientSpaceDimension>
+bool LineParameterization<AmbientSpaceDimension>::Plus(
+    const double* x_ptr,
+    const double* delta_ptr,
+    double* x_plus_delta_ptr) const {
+  // We seek a box plus operator of the form
+  //
+  //   [o*, d*] = Plus([o, d], [delta_o, delta_d])
+  //
+  // where o is the origin point, d is the direction vector, delta_o is
+  // the delta of the origin point and delta_d the delta of the direction and
+  // o* and d* is the updated origin point and direction.
+  //
+  // We separate the Plus operator into the origin point and directional part
+  //   d* = Plus_d(d, delta_d)
+  //   o* = Plus_o(o, d, delta_o)
+  //
+  // The direction update function Plus_d is the same as for the homogeneous
+  // vector parameterization:
+  //
+  //   d* = H_{v(d)} [0.5 sinc(0.5 |delta_d|) delta_d, cos(0.5 |delta_d|)]^T
+  //
+  // where H is the householder matrix
+  //   H_{v} = I - (2 / |v|^2) v v^T
+  // and
+  //   v(d) = d - sign(d_n) |d| e_n.
+  //
+  // The origin point update function Plus_o is defined as
+  //
+  //   o* = o + H_{v(d)} [0.5 delta_o, 0]^T.
+
+  static constexpr int kDim = AmbientSpaceDimension;
+  using AmbientVector = Eigen::Matrix<double, kDim, 1>;
+  using AmbientVectorRef = Eigen::Map<Eigen::Matrix<double, kDim, 1>>;
+  using ConstAmbientVectorRef =
+      Eigen::Map<const Eigen::Matrix<double, kDim, 1>>;
+  using ConstTangentVectorRef =
+      Eigen::Map<const Eigen::Matrix<double, kDim - 1, 1>>;
+
+  ConstAmbientVectorRef o(x_ptr);
+  ConstAmbientVectorRef d(x_ptr + kDim);
+
+  ConstTangentVectorRef delta_o(delta_ptr);
+  ConstTangentVectorRef delta_d(delta_ptr + kDim - 1);
+  AmbientVectorRef o_plus_delta(x_plus_delta_ptr);
+  AmbientVectorRef d_plus_delta(x_plus_delta_ptr + kDim);
+
+  const double norm_delta_d = delta_d.norm();
+
+  o_plus_delta = o;
+
+  // Shortcut for zero delta direction.
+  if (norm_delta_d == 0.0) {
+    d_plus_delta = d;
+
+    if (delta_o.isZero(0.0)) {
+      return true;
+    }
+  }
+
+  // Calculate the householder transformation which is needed for f_d and f_o.
+  AmbientVector v;
+  double beta;
+
+  // NOTE: The explicit template arguments are needed here because
+  // ComputeHouseholderVector is templated and some versions of MSVC
+  // have trouble deducing the type of v automatically.
+  internal::ComputeHouseholderVector<ConstAmbientVectorRef, double, kDim>(
+      d, &v, &beta);
+
+  if (norm_delta_d != 0.0) {
+    // Map the delta from the minimum representation to the over parameterized
+    // homogeneous vector. See section A6.9.2 on page 624 of Hartley & Zisserman
+    // (2nd Edition) for a detailed description.  Note there is a typo on Page
+    // 625, line 4 so check the book errata.
+    const double norm_delta_div_2 = 0.5 * norm_delta_d;
+    const double sin_delta_by_delta =
+        std::sin(norm_delta_div_2) / norm_delta_div_2;
+
+    // Apply the delta update to remain on the unit sphere. See section A6.9.3
+    // on page 625 of Hartley & Zisserman (2nd Edition) for a detailed
+    // description.
+    AmbientVector y;
+    y.template head<kDim - 1>() = 0.5 * sin_delta_by_delta * delta_d;
+    y[kDim - 1] = std::cos(norm_delta_div_2);
+
+    d_plus_delta = d.norm() * (y - v * (beta * (v.transpose() * y)));
+  }
+
+  // The null space is in the direction of the line, so the tangent space is
+  // perpendicular to the line direction. This is achieved by using the
+  // householder matrix of the direction and allow only movements
+  // perpendicular to e_n.
+  //
+  // The factor of 0.5 is used to be consistent with the line direction
+  // update.
+  AmbientVector y;
+  y << 0.5 * delta_o, 0;
+  o_plus_delta += y - v * (beta * (v.transpose() * y));
+
+  return true;
+}
+
+template <int AmbientSpaceDimension>
+bool LineParameterization<AmbientSpaceDimension>::ComputeJacobian(
+    const double* x_ptr, double* jacobian_ptr) const {
+  static constexpr int kDim = AmbientSpaceDimension;
+  using AmbientVector = Eigen::Matrix<double, kDim, 1>;
+  using ConstAmbientVectorRef =
+      Eigen::Map<const Eigen::Matrix<double, kDim, 1>>;
+  using MatrixRef = Eigen::Map<
+      Eigen::Matrix<double, 2 * kDim, 2 * (kDim - 1), Eigen::RowMajor>>;
+
+  ConstAmbientVectorRef d(x_ptr + kDim);
+  MatrixRef jacobian(jacobian_ptr);
+
+  // Clear the Jacobian as only half of the matrix is not zero.
+  jacobian.setZero();
+
+  AmbientVector v;
+  double beta;
+
+  // NOTE: The explicit template arguments are needed here because
+  // ComputeHouseholderVector is templated and some versions of MSVC
+  // have trouble deducing the type of v automatically.
+  internal::ComputeHouseholderVector<ConstAmbientVectorRef, double, kDim>(
+      d, &v, &beta);
+
+  // The Jacobian is equal to J = 0.5 * H.leftCols(kDim - 1) where H is
+  // the Householder matrix (H = I - beta * v * v') for the origin point. For
+  // the line direction part the Jacobian is scaled by the norm of the
+  // direction.
+  for (int i = 0; i < kDim - 1; ++i) {
+    jacobian.block(0, i, kDim, 1) = -0.5 * beta * v(i) * v;
+    jacobian.col(i)(i) += 0.5;
+  }
+
+  jacobian.template block<kDim, kDim - 1>(kDim, kDim - 1) =
+      jacobian.template block<kDim, kDim - 1>(0, 0) * d.norm();
+  return true;
+}
+
+}  // namespace ceres
+
+#endif  // CERES_PUBLIC_INTERNAL_LINE_PARAMETERIZATION_H_

extern/ceres/include/ceres/internal/macros.h

@@ -1,170 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
-// http://ceres-solver.org/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
-//
-// Various Google-specific macros.
-//
-// This code is compiled directly on many platforms, including client
-// platforms like Windows, Mac, and embedded systems.  Before making
-// any changes here, make sure that you're not breaking any platforms.
-
-#ifndef CERES_PUBLIC_INTERNAL_MACROS_H_
-#define CERES_PUBLIC_INTERNAL_MACROS_H_
-
-#include <cstddef>  // For size_t.
-
-// A macro to disallow the copy constructor and operator= functions
-// This should be used in the private: declarations for a class
-//
-// For disallowing only assign or copy, write the code directly, but declare
-// the intend in a comment, for example:
-//
-//   void operator=(const TypeName&);  // _DISALLOW_ASSIGN
-
-// Note, that most uses of CERES_DISALLOW_ASSIGN and CERES_DISALLOW_COPY
-// are broken semantically, one should either use disallow both or
-// neither. Try to avoid these in new code.
-#define CERES_DISALLOW_COPY_AND_ASSIGN(TypeName) \
-  TypeName(const TypeName&);               \
-  void operator=(const TypeName&)
-
-// A macro to disallow all the implicit constructors, namely the
-// default constructor, copy constructor and operator= functions.
-//
-// This should be used in the private: declarations for a class
-// that wants to prevent anyone from instantiating it. This is
-// especially useful for classes containing only static methods.
-#define CERES_DISALLOW_IMPLICIT_CONSTRUCTORS(TypeName) \
-  TypeName();                                    \
-  CERES_DISALLOW_COPY_AND_ASSIGN(TypeName)
-
-// The arraysize(arr) macro returns the # of elements in an array arr.
-// The expression is a compile-time constant, and therefore can be
-// used in defining new arrays, for example.  If you use arraysize on
-// a pointer by mistake, you will get a compile-time error.
-//
-// One caveat is that arraysize() doesn't accept any array of an
-// anonymous type or a type defined inside a function.  In these rare
-// cases, you have to use the unsafe ARRAYSIZE() macro below.  This is
-// due to a limitation in C++'s template system.  The limitation might
-// eventually be removed, but it hasn't happened yet.
-
-// This template function declaration is used in defining arraysize.
-// Note that the function doesn't need an implementation, as we only
-// use its type.
-template <typename T, size_t N>
-char (&ArraySizeHelper(T (&array)[N]))[N];
-
-// That gcc wants both of these prototypes seems mysterious. VC, for
-// its part, can't decide which to use (another mystery). Matching of
-// template overloads: the final frontier.
-#ifndef _WIN32
-template <typename T, size_t N>
-char (&ArraySizeHelper(const T (&array)[N]))[N];
-#endif
-
-#define arraysize(array) (sizeof(ArraySizeHelper(array)))
-
-// ARRAYSIZE performs essentially the same calculation as arraysize,
-// but can be used on anonymous types or types defined inside
-// functions.  It's less safe than arraysize as it accepts some
-// (although not all) pointers.  Therefore, you should use arraysize
-// whenever possible.
-//
-// The expression ARRAYSIZE(a) is a compile-time constant of type
-// size_t.
-//
-// ARRAYSIZE catches a few type errors.  If you see a compiler error
-//
-//   "warning: division by zero in ..."
-//
-// when using ARRAYSIZE, you are (wrongfully) giving it a pointer.
-// You should only use ARRAYSIZE on statically allocated arrays.
-//
-// The following comments are on the implementation details, and can
-// be ignored by the users.
-//
-// ARRAYSIZE(arr) works by inspecting sizeof(arr) (the # of bytes in
-// the array) and sizeof(*(arr)) (the # of bytes in one array
-// element).  If the former is divisible by the latter, perhaps arr is
-// indeed an array, in which case the division result is the # of
-// elements in the array.  Otherwise, arr cannot possibly be an array,
-// and we generate a compiler error to prevent the code from
-// compiling.
-//
-// Since the size of bool is implementation-defined, we need to cast
-// !(sizeof(a) & sizeof(*(a))) to size_t in order to ensure the final
-// result has type size_t.
-//
-// This macro is not perfect as it wrongfully accepts certain
-// pointers, namely where the pointer size is divisible by the pointee
-// size.  Since all our code has to go through a 32-bit compiler,
-// where a pointer is 4 bytes, this means all pointers to a type whose
-// size is 3 or greater than 4 will be (righteously) rejected.
-//
-// Kudos to Jorg Brown for this simple and elegant implementation.
-//
-// - wan 2005-11-16
-//
-// Starting with Visual C++ 2005, WinNT.h includes ARRAYSIZE. However,
-// the definition comes from the over-broad windows.h header that
-// introduces a macro, ERROR, that conflicts with the logging framework
-// that Ceres uses. Instead, rename ARRAYSIZE to CERES_ARRAYSIZE.
-#define CERES_ARRAYSIZE(a)                              \
-  ((sizeof(a) / sizeof(*(a))) /                         \
-   static_cast<size_t>(!(sizeof(a) % sizeof(*(a)))))
-
-// Tell the compiler to warn about unused return values for functions
-// declared with this macro.  The macro should be used on function
-// declarations following the argument list:
-//
-//   Sprocket* AllocateSprocket() MUST_USE_RESULT;
-//
-#if (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) \
-  && !defined(COMPILER_ICC)
-#define CERES_MUST_USE_RESULT __attribute__ ((warn_unused_result))
-#else
-#define CERES_MUST_USE_RESULT
-#endif
-
-// Platform independent macros to get aligned memory allocations.
-// For example
-//
-//   MyFoo my_foo CERES_ALIGN_ATTRIBUTE(16);
-//
-// Gives us an instance of MyFoo which is aligned at a 16 byte
-// boundary.
-#if defined(_MSC_VER)
-#define CERES_ALIGN_ATTRIBUTE(n) __declspec(align(n))
-#define CERES_ALIGN_OF(T) __alignof(T)
-#elif defined(__GNUC__)
-#define CERES_ALIGN_ATTRIBUTE(n) __attribute__((aligned(n)))
-#define CERES_ALIGN_OF(T) __alignof(T)
-#endif
-
-#endif  // CERES_PUBLIC_INTERNAL_MACROS_H_

extern/ceres/include/ceres/internal/manual_constructor.h

@@ -1,208 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
-// http://ceres-solver.org/
-//
-// Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-//   this list of conditions and the following disclaimer.
-// * Redistributions in binary form must reproduce the above copyright notice,
-//   this list of conditions and the following disclaimer in the documentation
-//   and/or other materials provided with the distribution.
-// * Neither the name of Google Inc. nor the names of its contributors may be
-//   used to endorse or promote products derived from this software without
-//   specific prior written permission.
-//
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// POSSIBILITY OF SUCH DAMAGE.
-//
-// Author: kenton@google.com (Kenton Varda)
-//
-// ManualConstructor statically-allocates space in which to store some
-// object, but does not initialize it.  You can then call the constructor
-// and destructor for the object yourself as you see fit.  This is useful
-// for memory management optimizations, where you want to initialize and
-// destroy an object multiple times but only allocate it once.
-//
-// (When I say ManualConstructor statically allocates space, I mean that
-// the ManualConstructor object itself is forced to be the right size.)
-
-#ifndef CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
-#define CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
-
-#include <new>
-
-namespace ceres {
-namespace internal {
-
-// ------- Define CERES_ALIGNED_CHAR_ARRAY --------------------------------
-
-#ifndef CERES_ALIGNED_CHAR_ARRAY
-
-// Because MSVC and older GCCs require that the argument to their alignment
-// construct to be a literal constant integer, we use a template instantiated
-// at all the possible powers of two.
-template<int alignment, int size> struct AlignType { };
-template<int size> struct AlignType<0, size> { typedef char result[size]; };
-
-#if !defined(CERES_ALIGN_ATTRIBUTE)
-#define CERES_ALIGNED_CHAR_ARRAY you_must_define_CERES_ALIGNED_CHAR_ARRAY_for_your_compiler
-#else  // !defined(CERES_ALIGN_ATTRIBUTE)
-
-#define CERES_ALIGN_TYPE_TEMPLATE(X) \
-  template<int size> struct AlignType<X, size> { \
-    typedef CERES_ALIGN_ATTRIBUTE(X) char result[size]; \
-  }
-
-CERES_ALIGN_TYPE_TEMPLATE(1);
-CERES_ALIGN_TYPE_TEMPLATE(2);
-CERES_ALIGN_TYPE_TEMPLATE(4);
-CERES_ALIGN_TYPE_TEMPLATE(8);
-CERES_ALIGN_TYPE_TEMPLATE(16);
-CERES_ALIGN_TYPE_TEMPLATE(32);
-CERES_ALIGN_TYPE_TEMPLATE(64);
-CERES_ALIGN_TYPE_TEMPLATE(128);
-CERES_ALIGN_TYPE_TEMPLATE(256);
-CERES_ALIGN_TYPE_TEMPLATE(512);
-CERES_ALIGN_TYPE_TEMPLATE(1024);
-CERES_ALIGN_TYPE_TEMPLATE(2048);
-CERES_ALIGN_TYPE_TEMPLATE(4096);
-CERES_ALIGN_TYPE_TEMPLATE(8192);
-// Any larger and MSVC++ will complain.
-
-#undef CERES_ALIGN_TYPE_TEMPLATE
-
-#define CERES_ALIGNED_CHAR_ARRAY(T, Size) \
-  typename AlignType<CERES_ALIGN_OF(T), sizeof(T) * Size>::result
-
-#endif  // !defined(CERES_ALIGN_ATTRIBUTE)
-
-#endif  // CERES_ALIGNED_CHAR_ARRAY
-
-template <typename Type>
-class ManualConstructor {
- public:
-  // No constructor or destructor because one of the most useful uses of
-  // this class is as part of a union, and members of a union cannot have
-  // constructors or destructors.  And, anyway, the whole point of this
-  // class is to bypass these.
-
-  inline Type* get() {
-    return reinterpret_cast<Type*>(space_);
-  }
-  inline const Type* get() const  {
-    return reinterpret_cast<const Type*>(space_);
-  }
-
-  inline Type* operator->() { return get(); }
-  inline const Type* operator->() const { return get(); }
-
-  inline Type& operator*() { return *get(); }
-  inline const Type& operator*() const { return *get(); }
-
-  // This is needed to get around the strict aliasing warning GCC generates.
-  inline void* space() {
-    return reinterpret_cast<void*>(space_);
-  }
-
-  // You can pass up to four constructor arguments as arguments of Init().
-  inline void Init() {
-    new(space()) Type;
-  }
-
-  template <typename T1>
-  inline void Init(const T1& p1) {
-    new(space()) Type(p1);
-  }
-
-  template <typename T1, typename T2>
-  inline void Init(const T1& p1, const T2& p2) {
-    new(space()) Type(p1, p2);
-  }
-
-  template <typename T1, typename T2, typename T3>
-  inline void Init(const T1& p1, const T2& p2, const T3& p3) {
-    new(space()) Type(p1, p2, p3);
-  }
-
-  template <typename T1, typename T2, typename T3, typename T4>
-  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4) {
-    new(space()) Type(p1, p2, p3, p4);
-  }
-
-  template <typename T1, typename T2, typename T3, typename T4, typename T5>
-  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
-                   const T5& p5) {
-    new(space()) Type(p1, p2, p3, p4, p5);
-  }
-
-  template <typename T1, typename T2, typename T3, typename T4, typename T5,
-            typename T6>
-  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
-                   const T5& p5, const T6& p6) {
-    new(space()) Type(p1, p2, p3, p4, p5, p6);
-  }
-
-  template <typename T1, typename T2, typename T3, typename T4, typename T5,
-            typename T6, typename T7>
-  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
-                   const T5& p5, const T6& p6, const T7& p7) {
-    new(space()) Type(p1, p2, p3, p4, p5, p6, p7);
-  }
-
-  template <typename T1, typename T2, typename T3, typename T4, typename T5,
-            typename T6, typename T7, typename T8>
-  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
-                   const T5& p5, const T6& p6, const T7& p7, const T8& p8) {
-    new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8);
-  }
-
-  template <typename T1, typename T2, typename T3, typename T4, typename T5,
-            typename T6, typename T7, typename T8, typename T9>
-  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
-                   const T5& p5, const T6& p6, const T7& p7, const T8& p8,
-                   const T9& p9) {
-    new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9);
-  }
-
-  template <typename T1, typename T2, typename T3, typename T4, typename T5,
-            typename T6, typename T7, typename T8, typename T9, typename T10>
-  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
-                   const T5& p5, const T6& p6, const T7& p7, const T8& p8,
-                   const T9& p9, const T10& p10) {
-    new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10);
-  }
-
-  template <typename T1, typename T2, typename T3, typename T4, typename T5,
-            typename T6, typename T7, typename T8, typename T9, typename T10,
-            typename T11>
-  inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
-                   const T5& p5, const T6& p6, const T7& p7, const T8& p8,
-                   const T9& p9, const T10& p10, const T11& p11) {
-    new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11);
-  }
-
-  inline void Destroy() {
-    get()->~Type();
-  }
-
- private:
-  CERES_ALIGNED_CHAR_ARRAY(Type, 1) space_;
-};
-
-#undef CERES_ALIGNED_CHAR_ARRAY
-
-}  // namespace internal
-}  // namespace ceres
-
-#endif  // CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_