diff --git a/math/ceres-solver/Makefile b/math/ceres-solver/Makefile
index 7d60a7364628..a80a57b23d0b 100644
--- a/math/ceres-solver/Makefile
+++ b/math/ceres-solver/Makefile
@@ -1,116 +1,113 @@
 PORTNAME=	ceres-solver
-DISTVERSION=	2.1.0
-PORTREVISION=	6
+DISTVERSION=	2.2.0rc1
 CATEGORIES=	math
 
 MAINTAINER=	yuri@FreeBSD.org
 COMMENT=	Nonlinear least squares minimizer
 WWW=		http://ceres-solver.org/
 
 LICENSE=	BSD3CLAUSE
 LICENSE_FILE=	${WRKSRC}/LICENSE
 
-BROKEN=		configure error: Target "ceres" links to: CXSparse::CXSparse but the target was not found
-
 BUILD_DEPENDS=	glog>=0.5.0:devel/glog
 LIB_DEPENDS=	libglog.so:devel/glog
 RUN_DEPENDS:=	${BUILD_DEPENDS:Meigen*}
 
 USES=		cmake:testing compiler:${OPENMP}c++11-lib eigen:3 localbase shebangfix
 USE_GITHUB=	yes
 USE_LDCONFIG=	yes
 
 SHEBANG_FILES=	examples/slam/pose_graph_*/plot_results.py \
 		scripts/make_docs.py
 
 CMAKE_ON=	BUILD_SHARED_LIBS
 CMAKE_OFF=	BUILD_BENCHMARKS BUILD_TESTING
 
 LDFLAGS+=	-Wl,--as-needed # -lccolamd -lcholmod -lrt from suitesparse
 PLIST_SUB=	VERSION=${DISTVERSION:C/rc.*//}
 
 EXAMPLESDIR=	${PREFIX}/share/examples/${PORTNAME:S/-solver//}
 DOCSDIR=	${PREFIX}/share/doc/Ceres
 PORTDOCS=	*
 PORTEXAMPLES=	*
 
 OPTIONS_DEFINE=		CUSTOM_BLAS EXAMPLES DOCS GFLAGS LAPACK OPENMP SCHUR
 OPTIONS_DEFAULT=	CUSTOM_BLAS CXSPARSE GFLAGS OPENBLAS OPENMP SCHUR SUITESPARSE
 OPTIONS_RADIO=		LAPACK THREADS
 OPTIONS_RADIO_LAPACK=	ATLAS GOTOBLAS NETLIB OPENBLAS
 OPTIONS_GROUP=		SPARSE
 OPTIONS_GROUP_SPARSE=	CXSPARSE EIGENSPARSE SUITESPARSE
 
 CUSTOM_BLAS_DESC=	Handcoded BLAS routines instead of Eigen
 CUSTOM_BLAS_CMAKE_BOOL=	CUSTOM_BLAS
 
 DOCS_BUILD_DEPENDS=	sphinx-build:textproc/py-sphinx \
 			${PYTHON_PKGNAMEPREFIX}sphinx_rtd_theme>0:textproc/py-sphinx_rtd_theme@${PY_FLAVOR}
 DOCS_USES=		python:build
 DOCS_CMAKE_BOOL=	BUILD_DOCUMENTATION
 
 EXAMPLES_CMAKE_BOOL=	BUILD_EXAMPLES
 EXAMPLES_IMPLIES=	GFLAGS
 
 GFLAGS_DESC=		Google Flags support
 GFLAGS_LIB_DEPENDS=	libgflags.so:devel/gflags
 GFLAGS_CMAKE_BOOL=	GFLAGS
 
 OPENMP_CMAKE_ON=	-DCERES_THREADING_MODEL:STRING="OPENMP"
 .if !exists(/usr/include/omp.h)
 # XXX ports/199603: LLVM openmp in base doesn't support armv6, armv7 yet
 OPENMP_VARS=		OPENMP=gcc-
 .endif
 
 SCHUR_DESC=		Fixed-size schur specializations
 SCHUR_CMAKE_BOOL=	SCHUR_SPECIALIZATIONS
 
 # XXX Unbundle googletest/googlemock
 
 LAPACK_DESC=		Linear Algebra PACKage
 LAPACK_CMAKE_BOOL=	LAPACK
 ATLAS_USES=		blaslapack:atlas
 ATLAS_CMAKE_ON=		-DBLA_VENDOR:STRING="ATLAS" \
 			-DBLAS_LIBRARIES:FILEPATH="${LOCALBASE}/lib/libcblas.so" \
 			-DLAPACK_LIBRARIES:FILEPATH="${LOCALBASE}/lib/libalapack.so"
 ATLAS_IMPLIES=		LAPACK
 GOTOBLAS_DESC=		Goto blas implementation
 GOTOBLAS_USES=		blaslapack:gotoblas
 GOTOBLAS_CMAKE_ON=	-DBLA_VENDOR:STRING="Goto"
 GOTOBLAS_IMPLIES=	LAPACK
 NETLIB_USES=		blaslapack:netlib
 NETLIB_CMAKE_ON=	-DBLA_VENDOR:STRING="Generic"
 NETLIB_IMPLIES=		LAPACK
 OPENBLAS_USES=		blaslapack:openblas
 OPENBLAS_CMAKE_ON=	-DBLA_VENDOR:STRING="OpenBLAS"
 OPENBLAS_IMPLIES=	LAPACK
 
 SPARSE_DESC=		Sparse linear algebra library
 CXSPARSE_DESC=		CXSparse support
 CXSPARSE_LIB_DEPENDS=	libcxsparse.so:math/suitesparse-cxsparse
 CXSPARSE_CMAKE_ON=	-DCXSPARSE_INCLUDE_DIR:PATH="${LOCALBASE}/include/suitesparse"
 CXSPARSE_CMAKE_BOOL=	CXSPARSE
 EIGENSPARSE_DESC=	Simplicial Cholesky factorization in Eigen
 EIGENSPARSE_CMAKE_BOOL=	EIGENSPARSE
 EIGENSPARSE_VARS=	LICENSE+=LGPL21+ LICENSE_COMB=multi \
 			LICENSE_FILE_BSD3CLAUSE="${LICENSE_FILE}"
 SUITESPARSE_DESC=	SuiteSparse support
 SUITESPARSE_LIB_DEPENDS=libspqr.so:math/suitesparse-spqr	\
 			libcholmod.so:math/suitesparse-cholmod
 SUITESPARSE_CMAKE_BOOL=	SUITESPARSE
 
 post-patch-DOCS-on:
 	@${REINPLACE_CMD} -e 's,python,${PYTHON_CMD:T},' \
 		${WRKSRC}/docs/source/CMakeLists.txt
 
 pre-install-TEST-on: do-test
 
 post-install-EXAMPLES-on:
 # Copy examples (stripped), their source and sample data but not tests programs
 	(cd ${WRKSRC}/examples && ${COPYTREE_SHARE} . ${STAGEDIR}${EXAMPLESDIR})
 	(cd ${WRKSRC} && ${COPYTREE_SHARE} data ${STAGEDIR}${EXAMPLESDIR})
 	(cd ${BUILD_WRKSRC} && ${COPYTREE_SHARE} bin ${STAGEDIR}${EXAMPLESDIR})
 	@${RM} -r ${STAGEDIR}${EXAMPLESDIR}/bin/*_test
 	-@${STRIP_CMD} ${STAGEDIR}${EXAMPLESDIR}/bin/* # may fail for non-root
 
 .include <bsd.port.mk>
diff --git a/math/ceres-solver/distinfo b/math/ceres-solver/distinfo
index 8a897a499b1d..ed8ebabbcb0e 100644
--- a/math/ceres-solver/distinfo
+++ b/math/ceres-solver/distinfo
@@ -1,3 +1,3 @@
-TIMESTAMP = 1657609627
-SHA256 (ceres-solver-ceres-solver-2.1.0_GH0.tar.gz) = ccbd716a93f65d4cb017e3090ae78809e02f5426dce16d0ee2b4f8a4ba2411a8
-SIZE (ceres-solver-ceres-solver-2.1.0_GH0.tar.gz) = 3775210
+TIMESTAMP = 1696182357
+SHA256 (ceres-solver-ceres-solver-2.2.0rc1_GH0.tar.gz) = 723077a8451c2592299dd8a627b770ffec02c179881badd05026df9f822b7f15
+SIZE (ceres-solver-ceres-solver-2.2.0rc1_GH0.tar.gz) = 3818421
diff --git a/math/ceres-solver/files/patch-cmake_FindSuiteSparse.cmake b/math/ceres-solver/files/patch-cmake_FindSuiteSparse.cmake
deleted file mode 100644
index a5a9781b6f6b..000000000000
--- a/math/ceres-solver/files/patch-cmake_FindSuiteSparse.cmake
+++ /dev/null
@@ -1,52 +0,0 @@
---- cmake/FindSuiteSparse.cmake.orig	2022-03-28 14:02:35 UTC
-+++ cmake/FindSuiteSparse.cmake
-@@ -394,26 +394,36 @@ if (TARGET SuiteSparse::Config)
-   else (NOT EXISTS ${SuiteSparse_VERSION_FILE})
-     file(READ ${SuiteSparse_VERSION_FILE} Config_CONTENTS)
- 
--    string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
--      SuiteSparse_VERSION_MAJOR "${Config_CONTENTS}")
--    string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
--      SuiteSparse_VERSION_MAJOR "${SuiteSparse_VERSION_MAJOR}")
-+    string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION[ \t]+([0-9]+)"
-+      SuiteSparse_VERSION_LINE "${Config_CONTENTS}")
-+    set (SuiteSparse_VERSION_MAJOR ${CMAKE_MATCH_1})
- 
--    string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
--      SuiteSparse_VERSION_MINOR "${Config_CONTENTS}")
--    string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
--      SuiteSparse_VERSION_MINOR "${SuiteSparse_VERSION_MINOR}")
-+    string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION[ \t]+([0-9]+)"
-+      SuiteSparse_VERSION_LINE "${Config_CONTENTS}")
-+    set (SuiteSparse_VERSION_MINOR ${CMAKE_MATCH_1})
- 
--    string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
--      SuiteSparse_VERSION_PATCH "${Config_CONTENTS}")
--    string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
--      SuiteSparse_VERSION_PATCH "${SuiteSparse_VERSION_PATCH}")
-+    string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION[ \t]+([0-9]+)"
-+      SuiteSparse_VERSION_LINE "${Config_CONTENTS}")
-+    set (SuiteSparse_VERSION_PATCH ${CMAKE_MATCH_1})
- 
-+    unset (SuiteSparse_VERSION_LINE)
-+
-     # This is on a single line s/t CMake does not interpret it as a list of
-     # elements and insert ';' separators which would result in 4.;2.;1 nonsense.
-     set(SuiteSparse_VERSION
-       "${SuiteSparse_VERSION_MAJOR}.${SuiteSparse_VERSION_MINOR}.${SuiteSparse_VERSION_PATCH}")
--    set(SuiteSparse_VERSION_COMPONENTS 3)
-+
-+    if (SuiteSparse_VERSION MATCHES "[0-9]+\\.[0-9]+\\.[0-9]+")
-+      set(SuiteSparse_VERSION_COMPONENTS 3)
-+    else (SuiteSparse_VERSION MATCHES "[0-9]+\\.[0-9]+\\.[0-9]+")
-+      message (WARNING "Could not parse SuiteSparse_config.h: SuiteSparse "
-+        "version will not be available")
-+
-+      unset (SuiteSparse_VERSION)
-+      unset (SuiteSparse_VERSION_MAJOR)
-+      unset (SuiteSparse_VERSION_MINOR)
-+      unset (SuiteSparse_VERSION_PATCH)
-+    endif (SuiteSparse_VERSION MATCHES "[0-9]+\\.[0-9]+\\.[0-9]+")
-   endif (NOT EXISTS ${SuiteSparse_VERSION_FILE})
- endif (TARGET SuiteSparse::Config)
- 
diff --git a/math/ceres-solver/files/patch-internal_ceres_covariance__impl.cc b/math/ceres-solver/files/patch-internal_ceres_covariance__impl.cc
deleted file mode 100644
index 88872405f429..000000000000
--- a/math/ceres-solver/files/patch-internal_ceres_covariance__impl.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-- backport of the commit Enable compatibility with SuiteSparse 7.2.0 
-- see https://github.com/ceres-solver/ceres-solver/commit/9cca671273c2f205ca7350422f48b7b119c5dd78
-
---- internal/ceres/covariance_impl.cc.orig	2023-09-20 07:40:12 UTC
-+++ internal/ceres/covariance_impl.cc
-@@ -630,7 +630,7 @@ bool CovarianceImpl::ComputeCovarianceValuesUsingSuite
-   // separately.
-   const SuiteSparse_long rank = SuiteSparseQR<double>(SPQR_ORDERING_BESTAMD,
-                                                       SPQR_DEFAULT_TOL,
--                                                      cholmod_jacobian.ncol,
-+                                                      static_cast<int64_t>(cholmod_jacobian.ncol),
-                                                       &cholmod_jacobian,
-                                                       &R,
-                                                       &permutation,
diff --git a/math/ceres-solver/pkg-plist b/math/ceres-solver/pkg-plist
index 5e0b0b0022ea..43d0db20054d 100644
--- a/math/ceres-solver/pkg-plist
+++ b/math/ceres-solver/pkg-plist
@@ -1,74 +1,73 @@
 include/ceres/autodiff_cost_function.h
 include/ceres/autodiff_first_order_function.h
-include/ceres/autodiff_local_parameterization.h
 include/ceres/autodiff_manifold.h
 include/ceres/c_api.h
 include/ceres/ceres.h
 include/ceres/conditioned_cost_function.h
+include/ceres/constants.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/config.h
 include/ceres/internal/disable_warnings.h
 include/ceres/internal/eigen.h
+include/ceres/internal/euler_angles.h
 include/ceres/internal/export.h
 include/ceres/internal/fixed_array.h
 include/ceres/internal/householder_vector.h
 include/ceres/internal/integer_sequence_algorithm.h
 include/ceres/internal/jet_traits.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/sphere_manifold_functions.h
 include/ceres/internal/variadic_evaluate.h
 include/ceres/iteration_callback.h
 include/ceres/jet.h
 include/ceres/jet_fwd.h
 include/ceres/line_manifold.h
-include/ceres/local_parameterization.h
 include/ceres/loss_function.h
 include/ceres/manifold.h
 include/ceres/manifold_test_utils.h
 include/ceres/normal_prior.h
 include/ceres/numeric_diff_cost_function.h
 include/ceres/numeric_diff_first_order_function.h
 include/ceres/numeric_diff_options.h
 include/ceres/ordered_groups.h
 include/ceres/problem.h
 include/ceres/product_manifold.h
 include/ceres/rotation.h
 include/ceres/sized_cost_function.h
 include/ceres/solver.h
 include/ceres/sphere_manifold.h
 include/ceres/tiny_solver.h
 include/ceres/tiny_solver_autodiff_function.h
 include/ceres/tiny_solver_cost_function_adapter.h
 include/ceres/types.h
 include/ceres/version.h
 lib/cmake/Ceres/CeresConfig.cmake
 lib/cmake/Ceres/CeresConfigVersion.cmake
 lib/cmake/Ceres/CeresTargets-%%CMAKE_BUILD_TYPE%%.cmake
 lib/cmake/Ceres/CeresTargets.cmake
-lib/cmake/Ceres/FindCXSparse.cmake
 lib/cmake/Ceres/FindMETIS.cmake
 lib/cmake/Ceres/FindSuiteSparse.cmake
 lib/libceres.so
-lib/libceres.so.3
+lib/libceres.so.4
 lib/libceres.so.%%VERSION%%