)]}'
{
  "commit": "7129cd31576113ef2546e4d51478036c3fdbc515",
  "tree": "99b16d8ae252e64182f18943562ed351c0681863",
  "parents": [
    "0f6161ba60ce296781eeb23bde0f42c0ed7570ee"
  ],
  "author": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Sun Jun 02 19:35:29 2013 -0700"
  },
  "committer": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Sun Jun 02 23:36:27 2013 -0700"
  },
  "message": "Pay attention to condition number in covariance estimation.\n\n1. Sparse covariance estimation now uses cholmod_rcond to\ndetect singular Jacobians.\n\n2. Dense covariance estimation now uses relative magnitude\nof singular/eigen values to compute the pseudoinverse.\n\n3. Truncation logic is now unified with Solver::Options::null_space_rank.\n\nChange-Id: I095bd737510c836b4251255926190a7f31d64bce\n",
  "tree_diff": [
    {
      "type": "modify",
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      "old_mode": 33188,
      "old_path": "include/ceres/covariance.h",
      "new_id": "26f94f77e526c62d2846141cff2415f2222892d6",
      "new_mode": 33188,
      "new_path": "include/ceres/covariance.h"
    },
    {
      "type": "modify",
      "old_id": "1a9619365ef7fe479d63f4a94a725f74a1751bcf",
      "old_mode": 33188,
      "old_path": "internal/ceres/covariance_impl.cc",
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      "new_mode": 33188,
      "new_path": "internal/ceres/covariance_impl.cc"
    },
    {
      "type": "modify",
      "old_id": "b74efdaec606599137120b7fbfc2197e614129df",
      "old_mode": 33188,
      "old_path": "internal/ceres/covariance_test.cc",
      "new_id": "05fb2345f597b6a0a6254a6313dd37ebc0ea2728",
      "new_mode": 33188,
      "new_path": "internal/ceres/covariance_test.cc"
    }
  ]
}