)]}'
{
  "commit": "ba73ce120c352d8999b1a9ca4a33132f07306b0e",
  "tree": "46432fb5a0576d44cfeb679b9e056a2c7f6a05c4",
  "parents": [
    "75570a599ae6f3bf140b887c7681c768b562144f"
  ],
  "author": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Wed Oct 18 20:48:12 2017 -0700"
  },
  "committer": {
    "name": "Sameer Agarwal",
    "email": "sameeragarwal@google.com",
    "time": "Thu Oct 19 13:52:31 2017 -0700"
  },
  "message": "Improve the convergence performance of TinySolver\n\n1. Default constructor and initialization for Summary.\n2. Add Jacobi scaling.\n3. Add bounds on the lm diagonal\n4. Use the diagonal of J\u0027J as the regularizer instead of identity.\n5. Update the computation of rho to match the change in regularization.\n\nAs a result of these changes, the performance of TinySolver is\nnow the same as ceres::Solver, solving 53 out of 54 problems.\n\nChange-Id: Ie08c3389ac2e3964ffa04411734c06b65835358a\n",
  "tree_diff": [
    {
      "type": "modify",
      "old_id": "8f25918a61ba342cda3d08dd13046101bee8b7bf",
      "old_mode": 33188,
      "old_path": "include/ceres/tiny_solver.h",
      "new_id": "d9fa3c588aea12b23bbaa2195139c4e43cc61d69",
      "new_mode": 33188,
      "new_path": "include/ceres/tiny_solver.h"
    }
  ]
}