)]}'
{
  "commit": "9026d69d1ce1e0bcd21debd54a38246d85c7c6e4",
  "tree": "86871912b851158d4340f504a53bb6f2e80eb77c",
  "parents": [
    "a36693f83da7a3fd19dce473d060231d4cc97499"
  ],
  "author": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Thu Sep 22 17:20:14 2016 -0700"
  },
  "committer": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Thu Sep 22 20:33:53 2016 -0700"
  },
  "message": "Allow SubsetParameterization to hold all parameters constant\n\n1. SubsetParameterization can now be constructed such that all\nparameters are constant. This is required for it be used as part\nof a ProductParameterization to hold a part of parameter block\nconstant. For example, a parameter block consisting of a rotation\nas a quaternion and a translation vector can now have a local\nparameterization where the translation part is constant and the\nquaternion part has a QuaternionParameterization associated with it.\n\n2. The check for the tangent space of a parameterization being\npositive dimensional. We were not doing this check up till now\nand the user could accidentally create parameterizations like this\nand create a problem for themselves. This will ensure that even\nthough one can construct a SubsetParameterization where all\nparameters are constant, you cannot actually use it as a local\nparameterization for an entire parameter block. Which is how\nit was before, but the check was inside the SubsetParameterization\nconstructor.\n\n3. Added more tests and refactored existing tests to be more\ngranular.\n\nChange-Id: Ic0184a1f30e3bd8a416b02341781a9d98e855ff7\n",
  "tree_diff": [
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      "new_path": "internal/ceres/local_parameterization.cc"
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}