diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
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+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012 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: keir@google.com (Keir Mierle)
+
+SET(CERES_INTERNAL_SRC
+    block_evaluate_preparer.cc
+    block_jacobian_writer.cc
+    block_random_access_dense_matrix.cc
+    block_random_access_matrix.cc
+    block_random_access_sparse_matrix.cc
+    block_sparse_matrix.cc
+    block_structure.cc
+    canonical_views_clustering.cc
+    compressed_row_jacobian_writer.cc
+    compressed_row_sparse_matrix.cc
+    conditioned_cost_function.cc
+    conjugate_gradients_solver.cc
+    corrector.cc
+    dense_qr_solver.cc
+    dense_sparse_matrix.cc
+    detect_structure.cc
+    evaluator.cc
+    file.cc
+    gradient_checking_cost_function.cc
+    implicit_schur_complement.cc
+    iterative_schur_complement_solver.cc
+    levenberg_marquardt.cc
+    linear_least_squares_problems.cc
+    linear_operator.cc
+    linear_solver.cc
+    local_parameterization.cc
+    loss_function.cc
+    normal_prior.cc
+    partitioned_matrix_view.cc
+    problem.cc
+    problem_impl.cc
+    program.cc
+    residual_block.cc
+    residual_block_utils.cc
+    runtime_numeric_diff_cost_function.cc
+    schur_complement_solver.cc
+    schur_eliminator.cc
+    schur_ordering.cc
+    scratch_evaluate_preparer.cc
+    solver.cc
+    solver_impl.cc
+    sparse_matrix.cc
+    sparse_normal_cholesky_solver.cc
+    split.cc
+    stringprintf.cc
+    suitesparse.cc
+    triplet_sparse_matrix.cc
+    types.cc
+    visibility_based_preconditioner.cc
+    visibility.cc
+)
+
+If (PROTOBUF_FOUND)
+  PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS matrix.proto)
+ENDIF (PROTOBUF_FOUND)
+
+# Also depend on the header files so that they appear in IDEs.
+FILE(GLOB CERES_INTERNAL_HDRS *.h)
+
+# Include the specialized schur solvers.
+IF (SCHUR_SPECIALIZATIONS)
+  FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
+ELSE (SCHUR_SPECIALIZATIONS)
+  # Only the fully dynamic solver.
+  FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/schur_eliminator_d_d_d.cc)
+ENDIF (SCHUR_SPECIALIZATIONS)
+
+ADD_LIBRARY(ceres
+            ${PROTO_SRCS}
+            ${PROTO_HDRS}
+            ${CERES_INTERNAL_SRC}
+            ${CERES_INTERNAL_HDRS}
+            ${CERES_INTERNAL_SCHUR_FILES})
+
+# TODO(keir): Make linking gomp optional for e.g. Windows.
+SET(CERES_LIBRARY_DEPENDENCIES
+  ${GLOG_LIB}
+  ${GFLAGS_LIB}
+  ${LAPACK_LIB}
+  ${CAMD_LIB}
+  ${AMD_LIB}
+  ${CCOLAMD_LIB}
+  ${COLAMD_LIB}
+  ${CHOLMOD_LIB})
+
+IF (EXISTS ${METIS_LIB})
+  SET(CERES_LIBRARY_DEPENDENCIES
+      ${CERES_LIBRARY_DEPENDENCIES}
+      ${METIS_LIB})
+ENDIF (EXISTS ${METIS_LIB})
+
+IF (OPENMP_FOUND)
+  SET(CERES_LIBRARY_DEPENDENCIES
+    ${CERES_LIBRARY_DEPENDENCIES}
+    gomp)
+ENDIF (OPENMP_FOUND)
+
+IF (PROTOBUF_FOUND)
+  SET(CERES_LIBRARY_DEPENDENCIES
+    ${CERES_LIBRARY_DEPENDENCIES}
+    ${PROTOBUF_LIBRARY})
+ENDIF (PROTOBUF_FOUND)
+
+TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES})
+
+OPTION(BUILD_TESTS "Build the unit tests." ON)
+IF (BUILD_TESTS)
+  ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc)
+  ADD_LIBRARY(test_util test_util.cc)
+  TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIB} ${GLOG_LIB})
+
+  MACRO (CERES_TEST NAME)
+    ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc)
+    TARGET_LINK_LIBRARIES(${NAME}_test test_util ceres gtest)
+    ADD_TEST(${NAME}_test
+             ${NAME}_test
+             --test_srcdir
+             ${CMAKE_SOURCE_DIR}/data)
+  ENDMACRO (CERES_TEST)
+
+  CERES_TEST(autodiff)
+  CERES_TEST(autodiff_cost_function)
+  CERES_TEST(block_random_access_dense_matrix)
+  CERES_TEST(block_random_access_sparse_matrix)
+  CERES_TEST(block_sparse_matrix)
+  CERES_TEST(canonical_views_clustering)
+  CERES_TEST(compressed_row_sparse_matrix)
+  CERES_TEST(conditioned_cost_function)
+  CERES_TEST(corrector)
+  CERES_TEST(dense_sparse_matrix)
+  CERES_TEST(evaluator)
+  CERES_TEST(gradient_checking_cost_function)
+  CERES_TEST(graph)
+  CERES_TEST(graph_algorithms)
+  CERES_TEST(implicit_schur_complement)
+  CERES_TEST(iterative_schur_complement_solver)
+  CERES_TEST(jet)
+  CERES_TEST(levenberg_marquardt)
+  CERES_TEST(local_parameterization)
+  CERES_TEST(loss_function)
+  CERES_TEST(normal_prior)
+  CERES_TEST(numeric_diff_cost_function)
+  CERES_TEST(parameter_block)
+  CERES_TEST(partitioned_matrix_view)
+  CERES_TEST(problem)
+  CERES_TEST(residual_block)
+  CERES_TEST(residual_block_utils)
+  CERES_TEST(rotation)
+  CERES_TEST(runtime_numeric_diff_cost_function)
+  CERES_TEST(schur_complement_solver)
+  CERES_TEST(schur_eliminator)
+  CERES_TEST(schur_ordering)
+  CERES_TEST(solver_impl)
+  CERES_TEST(symmetric_linear_solver)
+  CERES_TEST(system)
+  CERES_TEST(triplet_sparse_matrix)
+  CERES_TEST(unsymmetric_linear_solver)
+  CERES_TEST(visibility)
+  CERES_TEST(visibility_based_preconditioner)
+ENDIF (BUILD_TESTS)