Add the 2_d_d SchurEliminator specialization.

This occurs far too often in bundle adjustment problems to be ignored.

Change-Id: Ib137f1566acf5fffa63e50a55fe8e78ea9eb1c14

internal/ceres/generate_eliminator_specialization.py

diff --git a/internal/ceres/generate_eliminator_specialization.py b/internal/ceres/generate_eliminator_specialization.py
index caeca69..78f779f 100644
--- a/internal/ceres/generate_eliminator_specialization.py
+++ b/internal/ceres/generate_eliminator_specialization.py
@@ -60,6 +60,7 @@
                    (2, 4, 3),
                    (2, 4, 4),
                    (2, 4, "Eigen::Dynamic"),
+                   (2, "Eigen::Dynamic", "Eigen::Dynamic"),
                    (4, 4, 2),
                    (4, 4, 3),
                    (4, 4, 4),

internal/ceres/generated/schur_eliminator_2_d_d.cc

diff --git a/internal/ceres/generated/schur_eliminator_2_d_d.cc b/internal/ceres/generated/schur_eliminator_2_d_d.cc
new file mode 100644
index 0000000..4b420c3
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_d_d.cc
@@ -0,0 +1,56 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012, 2013 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specialization.py.
+// Editing it manually is not recommended.
+
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>;
+
+}  // namespace internal
+}  // namespace ceres
+
+#endif  // CERES_RESTRICT_SCHUR_SPECIALIZATION

internal/ceres/schur_eliminator.cc

diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc
index 31f8354..25103dc 100644
--- a/internal/ceres/schur_eliminator.cc
+++ b/internal/ceres/schur_eliminator.cc
@@ -37,7 +37,7 @@
 // THIS FILE IS AUTOGENERATED. DO NOT EDIT.
 //=========================================
 //
-// This file is generated using generate_eliminator_specializations.py.
+// This file is generated using generate_eliminator_specialization.py.
 // Editing it manually is not recommended.
 
 #include "ceres/linear_solver.h"
@@ -105,6 +105,11 @@
       (options.f_block_size == Eigen::Dynamic)) {
     return new SchurEliminator<2, 4, Eigen::Dynamic>(options);
   }
+  if ((options.row_block_size == 2) &&
+      (options.e_block_size == Eigen::Dynamic) &&
+      (options.f_block_size == Eigen::Dynamic)) {
+    return new SchurEliminator<2, Eigen::Dynamic, Eigen::Dynamic>(options);
+  }
   if ((options.row_block_size == 4) &&
       (options.e_block_size == 4) &&
       (options.f_block_size == 2)) {