)]}'
{
  "commit": "4b6ad5d88e45ce8638c882d3e8f08161089b6dba",
  "tree": "329f8345a53e26a8407d4896b50441e4f6fe3f53",
  "parents": [
    "bfc916cf1cf753b85c1e2ac037e2019ee891f6f9"
  ],
  "author": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Sat Aug 27 23:21:55 2016 -0700"
  },
  "committer": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Wed Aug 31 05:46:44 2016 -0700"
  },
  "message": "Use ProductParameterization in bundle_adjuster.cc\n\nPreviously, when using a quaternion to parameterize the camera\norientation, the camera parameter block was split into two\nparameter blocks. One for the rotation and another for the\ntranslation and intrinsics. This was to enable the use of the\nQuaternion parameterization.\n\nNow that we have a ProductParameterization which allows us\nto compose multiple parameterizations, this is no longer needed\nand we use a size 10 parameter block instead.\n\nThis leads to a more than 2x improvements in the linear solver time.\n\nChange-Id: I78b8f06696f81fee54cfe1a4ae193ee8a5f8e920\n",
  "tree_diff": [
    {
      "type": "modify",
      "old_id": "985dbaf09689508eeeb34abff1ec81a072d1d325",
      "old_mode": 33188,
      "old_path": "examples/bundle_adjuster.cc",
      "new_id": "e21c4ee55b8f71fa5dd9c2f4012d0a26ebabface",
      "new_mode": 33188,
      "new_path": "examples/bundle_adjuster.cc"
    },
    {
      "type": "modify",
      "old_id": "184accbcc1aaa3c21ce0a519ac19b4526f0bdaf6",
      "old_mode": 33188,
      "old_path": "examples/snavely_reprojection_error.h",
      "new_id": "a4256163d34cbd6764081bfa1334bd62e7f0e181",
      "new_mode": 33188,
      "new_path": "examples/snavely_reprojection_error.h"
    }
  ]
}