)]}'
{
  "commit": "0b629bd8964a81a5a900974bc158da5520d8678c",
  "tree": "c8399b2ce5df250a491308d77c67ee9d129f214e",
  "parents": [
    "e2028c48fc78cab0d07308e1e00b39a4ea31e894"
  ],
  "author": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Mon Oct 19 16:51:18 2026 -0700"
  },
  "committer": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Mon Oct 19 16:51:18 2026 -0700"
  },
  "message": "Check corrected Hessian in Corrector.MultidimensionalGaussNewtonApproximation\n\nWhen rho[2] \u003c\u003d 0, Corrector clamps alpha to 0 and drops the rank-1 curvature correction term, so the implied Gauss-Newton Hessian is rho[1] * J\u0027J rather than rho[1] * J\u0027J + 2 * rho[2] * J\u0027r r\u0027J. Account for this in g_hess and assert that c_hess matches g_hess.\n\nThanks to Matthias Kraft (@matthias-kraft) for reporting this.\n\nFixes https://github.com/ceres-solver/ceres-solver/issues/363\n\nChange-Id: I3ccc3753aab5a5d753a8f650ff71f2b8ea96a51d\n",
  "tree_diff": [
    {
      "type": "modify",
      "old_id": "e042481b64b8054798997e258d2194452e2c3fd6",
      "old_mode": 33188,
      "old_path": "internal/ceres/corrector_test.cc",
      "new_id": "aa1e0a71d84f360173df1640cc2247a636caed19",
      "new_mode": 33188,
      "new_path": "internal/ceres/corrector_test.cc"
    }
  ]
}