)]}'
{
  "commit": "125a0e9be51d3876d3a6f03111a3b80b4c8b7bb8",
  "tree": "5af420c28c4f662b2ccd562099348ae7a38cea01",
  "parents": [
    "00bfbae11f27a50c5a8017161ec1ee3d049c5895"
  ],
  "author": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Tue Dec 28 07:05:03 2021 -0800"
  },
  "committer": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Tue Jan 18 15:59:45 2022 -0800"
  },
  "message": "LocalParameterization -\u003e Manifold #1\n\nManifolds are now part of the public API and co-exist\nwith LocalParameterizations.\n\n1. Add Manifolds to the Problem API.\n   a. AddParameterBlock(double*, int, Manifold*)\n   b. SetParameterization(double*, Manifold*)\n   b. GetManifold(const double*)\n   c. HasManifold(const double*)\n\n2. Internally Ceres now only uses Manifolds. When the user uses\n   a LocalParameterization, it is wrapped in a ManifoldAdapter.\n\n3. To preserve the API semantics while keeping the internals clean\n   we need a new map in ProblemImpl which stores the association\n   between parameter blocks and local parameterizations. This\n   is temporary, it will go away once this transition is complete.\n\n4. There are NO algorithmic changes, as in we are not using\n   any of the expanded interface of the Manifold objects yet.\n   That will come later.\n\n5. All tests that use LocalParameterization have been duplicated\n   to use Manifolds, and when this transition is complete the\n   LocalParameterization based tests will be deleted.\n\n6. Public documentation for the API has been updated. Deprecation\n   notices to the documentation as well as C++ annotations will come\n   later.\n\n7. Similar changes have been made to GradientProblem.\n\nChange-Id: I8e03c8ced6e141876ef3eca5740c113afa788f0c\n",
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