)]}'
{
  "commit": "f62dccdb37f2104856c621bce7fd79e7c92d5a9b",
  "tree": "158c721070938432f7bd0e5b2413bb60821fbd84",
  "parents": [
    "3e1cc89f6341b003698c00c50280cd7ba1e6aa61"
  ],
  "author": {
    "name": "Julio L. Paneque",
    "email": "jlpaneque94@gmail.com",
    "time": "Thu Aug 04 12:41:10 2022 +0200"
  },
  "committer": {
    "name": "Julio L. Paneque",
    "email": "jlpaneque94@gmail.com",
    "time": "Tue Aug 09 09:36:18 2022 +0200"
  },
  "message": "Fix the Sphere and Line Manifold formulations\n\nThis PR changes the Sphere and Line Manifold formulations so that their\ntangent spaces represent traveled angles (for the sphere and the line\ndirection vector) and traveled distance (for the line origin). These\nmagnitudes were previously halved according to \"Hartley \u0026 Zisserman\n(2nd Edition)\", but in the majority of the state of the art this is not\ndone, following the convention that magnitudes in the tangent space of\nthe unit sphere represent geodesic distances traveled on that manifold.\nThe same scale factor appears in the Quaternion Manifold implementation\nand will be studied in a further PR.\n\nThis PR also adds an additional case in the Sphere Minus operator when\nhy_norm \u003d\u003d 0. The value of y_minus_x was fixed to 0 but actually its\nlast term can also be Pi depending on y_last.\n\nFinally, new unit tests for the Plus and Minus operator are added, along\nwith new tests for the 2D Sphere (a.k.a. Circle) Manifold.\n\nChange-Id: I9456f1675b20da49bede5d6759aabf3cdfb26eae\n",
  "tree_diff": [
    {
      "type": "modify",
      "old_id": "f9af5ec15ba126b43bbfc45fea50f6f6e13d0f72",
      "old_mode": 33188,
      "old_path": "include/ceres/internal/sphere_manifold_functions.h",
      "new_id": "ab37605496774a2df020248c5337deecd5a8d5fd",
      "new_mode": 33188,
      "new_path": "include/ceres/internal/sphere_manifold_functions.h"
    },
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      "type": "modify",
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      "old_mode": 33188,
      "old_path": "include/ceres/line_manifold.h",
      "new_id": "752513c596272e6ccc1447e29968bcdab11559cf",
      "new_mode": 33188,
      "new_path": "include/ceres/line_manifold.h"
    },
    {
      "type": "modify",
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      "old_mode": 33188,
      "old_path": "internal/ceres/manifold_test.cc",
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      "new_mode": 33188,
      "new_path": "internal/ceres/manifold_test.cc"
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}