)]}'
{
  "commit": "678c05b28976c7adeb791b9678465049686026ba",
  "tree": "0e602a0ffc20e9aa6481b4fda7b78e1dc099e666",
  "parents": [
    "a384a7e96e3b341a1cf14b3642f83e8eb82ccfee"
  ],
  "author": {
    "name": "Johannes Beck",
    "email": "Jodebo_Beck@gmx.de",
    "time": "Thu Jan 02 19:21:32 2020 +0100"
  },
  "committer": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Fri Jan 03 01:44:17 2020 +0000"
  },
  "message": "Fix invert PSD matrix.\n\nThis CL fixes and simplifies the implementation of InvertPSDMatrix.\nInvertPSDMatrix uses a JacobiSVD with thin U and V. This requires a\nvariable number of columns, which is not always the case, which\ntriggers an assert in debug mode. The type of the matrix is changed\nto always use a dynamic number of columns.\n\nIn addition, instead of calculating the inverse of the matrix by hand,\nthe SVD solve method is used.\n\nChange-Id: I353c741cf537b58eb5b18663902318babe1a66de\n",
  "tree_diff": [
    {
      "type": "modify",
      "old_id": "2a61c60e402d42da083f14e587ff2ee8c5d57d2e",
      "old_mode": 33188,
      "old_path": "internal/ceres/invert_psd_matrix.h",
      "new_id": "21d301a77eeb5e843154d5adf83f61543faec5f4",
      "new_mode": 33188,
      "new_path": "internal/ceres/invert_psd_matrix.h"
    }
  ]
}