| Offset 1, 5 lines modified | Offset 1, 5 lines modified | ||
| 1 | ·c25fa8f3462fb4b5a7126da664065c59·124052·libdevel·optional·libg2o-dev_0~20230806-4.1_arm64.deb | 1 | ·c25fa8f3462fb4b5a7126da664065c59·124052·libdevel·optional·libg2o-dev_0~20230806-4.1_arm64.deb |
| 2 | · | 2 | ·6b98fe03cc608916fcd126cf03490714·208954300·doc·optional·libg2o-doc_0~20230806-4.1_all.deb |
| 3 | ·9e3827b3aa56f45988785c52b9f702d4·143891488·debug·optional·libg2o0t64-dbgsym_0~20230806-4.1_arm64.deb | 3 | ·9e3827b3aa56f45988785c52b9f702d4·143891488·debug·optional·libg2o0t64-dbgsym_0~20230806-4.1_arm64.deb |
| 4 | ·395a5813a4e8ab17cc68f4f57f92ec95·746852·libs·optional·libg2o0t64_0~20230806-4.1_arm64.deb | 4 | ·395a5813a4e8ab17cc68f4f57f92ec95·746852·libs·optional·libg2o0t64_0~20230806-4.1_arm64.deb |
| Offset 1, 3 lines modified | Offset 1, 3 lines modified | ||
| 1 | -rw-r--r--···0········0········0········4·2024-02-28·09:35:01.000000·debian-binary | 1 | -rw-r--r--···0········0········0········4·2024-02-28·09:35:01.000000·debian-binary |
| 2 | -rw-r--r--···0········0········0···1621 | 2 | -rw-r--r--···0········0········0···162176·2024-02-28·09:35:01.000000·control.tar.xz |
| 3 | -rw-r--r--···0········0········0·20879 | 3 | -rw-r--r--···0········0········0·208791932·2024-02-28·09:35:01.000000·data.tar.xz |
| Offset 1, 13 lines modified | Offset 1, 13 lines modified | ||
| 1 | ··Streams:···········1 | 1 | ··Streams:···········1 |
| 2 | ··Blocks:············1 | 2 | ··Blocks:············1 |
| 3 | ··Compressed·size:···158. | 3 | ··Compressed·size:···158.4·KiB·(162176·B) |
| 4 | ··Uncompressed·size:·770.0·KiB·(788480·B) | 4 | ··Uncompressed·size:·770.0·KiB·(788480·B) |
| 5 | ··Ratio:·············0.206 | 5 | ··Ratio:·············0.206 |
| 6 | ··Check:·············CRC64 | 6 | ··Check:·············CRC64 |
| 7 | ··Stream·Padding:····0·B | 7 | ··Stream·Padding:····0·B |
| 8 | ··Streams: | 8 | ··Streams: |
| 9 | ····Stream····Blocks······CompOffset····UncompOffset········CompSize······UncompSize··Ratio··Check······Padding | 9 | ····Stream····Blocks······CompOffset····UncompOffset········CompSize······UncompSize··Ratio··Check······Padding |
| 10 | ·········1·········1···············0···············0··········1621 | 10 | ·········1·········1···············0···············0··········162176··········788480··0.206··CRC64············0 |
| 11 | ··Blocks: | 11 | ··Blocks: |
| 12 | ····Stream·····Block······CompOffset····UncompOffset·······TotalSize······UncompSize··Ratio··Check | 12 | ····Stream·····Block······CompOffset····UncompOffset·······TotalSize······UncompSize··Ratio··Check |
| 13 | ·········1·········1··············12···············0··········1621 | 13 | ·········1·········1··············12···············0··········162140··········788480··0.206··CRC64 |
| Offset 180, 15 lines modified | Offset 180, 15 lines modified | ||
| 180 | -rw-r--r--···0·root·········(0)·root·········(0)·····2075·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/tutorial_slam2d.cpp.gz | 180 | -rw-r--r--···0·root·········(0)·root·········(0)·····2075·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/tutorial_slam2d.cpp.gz |
| 181 | -rw-r--r--···0·root·········(0)·root·········(0)·····2021·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/types_tutorial_slam2d.cpp | 181 | -rw-r--r--···0·root·········(0)·root·········(0)·····2021·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/types_tutorial_slam2d.cpp |
| 182 | -rw-r--r--···0·root·········(0)·root·········(0)·····1613·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/types_tutorial_slam2d.h | 182 | -rw-r--r--···0·root·········(0)·root·········(0)·····1613·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/types_tutorial_slam2d.h |
| 183 | -rw-r--r--···0·root·········(0)·root·········(0)·····1871·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/vertex_point_xy.cpp | 183 | -rw-r--r--···0·root·········(0)·root·········(0)·····1871·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/vertex_point_xy.cpp |
| 184 | -rw-r--r--···0·root·········(0)·root·········(0)·····2148·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/vertex_point_xy.h | 184 | -rw-r--r--···0·root·········(0)·root·········(0)·····2148·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/vertex_point_xy.h |
| 185 | -rw-r--r--···0·root·········(0)·root·········(0)·····1879·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/vertex_se2.cpp | 185 | -rw-r--r--···0·root·········(0)·root·········(0)·····1879·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/vertex_se2.cpp |
| 186 | -rw-r--r--···0·root·········(0)·root·········(0)·····2156·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/vertex_se2.h | 186 | -rw-r--r--···0·root·········(0)·root·········(0)·····2156·2023-08-06·13:01:18.000000·./usr/share/doc/libg2o-dev/examples/tutorial_slam2d/vertex_se2.h |
| 187 | -rw-r--r--···0·root·········(0)·root·········(0)···6051 | 187 | -rw-r--r--···0·root·········(0)·root·········(0)···605167·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/g2o.pdf.gz |
| 188 | drwxr-xr-x···0·root·········(0)·root·········(0)········0·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/ | 188 | drwxr-xr-x···0·root·········(0)·root·········(0)········0·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/ |
| 189 | -rw-r--r--···0·root·········(0)·root·········(0)·····9737·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h.html | 189 | -rw-r--r--···0·root·········(0)·root·········(0)·····9737·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h.html |
| 190 | -rw-r--r--···0·root·········(0)·root·········(0)·····1537·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__dep__incl.map | 190 | -rw-r--r--···0·root·········(0)·root·········(0)·····1537·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__dep__incl.map |
| 191 | -rw-r--r--···0·root·········(0)·root·········(0)·······32·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__dep__incl.md5 | 191 | -rw-r--r--···0·root·········(0)·root·········(0)·······32·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__dep__incl.md5 |
| 192 | -rw-r--r--···0·root·········(0)·root·········(0)····39947·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__dep__incl.png | 192 | -rw-r--r--···0·root·········(0)·root·········(0)····39947·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__dep__incl.png |
| 193 | -rw-r--r--···0·root·········(0)·root·········(0)······503·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__incl.map | 193 | -rw-r--r--···0·root·········(0)·root·········(0)······503·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__incl.map |
| 194 | -rw-r--r--···0·root·········(0)·root·········(0)·······32·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__incl.md5 | 194 | -rw-r--r--···0·root·········(0)·root·········(0)·······32·2024-02-28·09:35:01.000000·./usr/share/doc/libg2o-dev/html/FlexLexer_8h__incl.md5 |
| Offset 1, 12 lines modified | Offset 1, 12 lines modified | ||
| 1 | g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization | 1 | g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization |
| 2 | Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige | 2 | Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige |
| 3 | email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de | 3 | email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de |
| 4 | strasdat@gmail.com·konolige@willowgarage.com | 4 | strasdat@gmail.com·konolige@willowgarage.com |
| 5 | June·1 | 5 | June·19,·2025 |
| 6 | In·this·document·we·describe·a·C++·framework·for·performing·the·optimization·of·nonlinear·least | 6 | In·this·document·we·describe·a·C++·framework·for·performing·the·optimization·of·nonlinear·least |
| 7 | squares·problems·that·can·be·embedded·as·a·graph·or·in·a·hyper-graph.·A·hyper-graph·is·an·extension | 7 | squares·problems·that·can·be·embedded·as·a·graph·or·in·a·hyper-graph.·A·hyper-graph·is·an·extension |
| 8 | of·a·graph·where·an·edge·can·connect·multiple·nodes·and·not·only·two.·Several·problems·in·robotics·and | 8 | of·a·graph·where·an·edge·can·connect·multiple·nodes·and·not·only·two.·Several·problems·in·robotics·and |
| 9 | in·computer·vision·require·to·find·the·optimum·of·an·error·function·with·respect·of·a·set·of·parameters. | 9 | in·computer·vision·require·to·find·the·optimum·of·an·error·function·with·respect·of·a·set·of·parameters. |
| 10 | Examples·include,·popular·applications·like·SLAM·and·Bundle·adjustment. | 10 | Examples·include,·popular·applications·like·SLAM·and·Bundle·adjustment. |
| 11 | In·the·literature,·many·approaches·have·been·proposed·to·address·this·class·of·problems.·The·naive | 11 | In·the·literature,·many·approaches·have·been·proposed·to·address·this·class·of·problems.·The·naive |
| 12 | implementation·of·standard·methods,·like·Levenberg-Marquardt·or·Gauss-Newton·can·lead·to·acceptable | 12 | implementation·of·standard·methods,·like·Levenberg-Marquardt·or·Gauss-Newton·can·lead·to·acceptable |
| Offset 1, 25 lines modified | Offset 1, 25 lines modified | ||
| 1 | ··Streams:···········1 | 1 | ··Streams:···········1 |
| 2 | ··Blocks:············13 | 2 | ··Blocks:············13 |
| 3 | ··Compressed·size:···199.1·MiB·(20879 | 3 | ··Compressed·size:···199.1·MiB·(208791932·B) |
| 4 | ··Uncompressed·size:·307.7·MiB·(322652160·B) | 4 | ··Uncompressed·size:·307.7·MiB·(322652160·B) |
| 5 | ··Ratio:·············0.647 | 5 | ··Ratio:·············0.647 |
| 6 | ··Check:·············CRC64 | 6 | ··Check:·············CRC64 |
| 7 | ··Stream·Padding:····0·B | 7 | ··Stream·Padding:····0·B |
| 8 | ··Streams: | 8 | ··Streams: |
| 9 | ····Stream····Blocks······CompOffset····UncompOffset········CompSize······UncompSize··Ratio··Check······Padding | 9 | ····Stream····Blocks······CompOffset····UncompOffset········CompSize······UncompSize··Ratio··Check······Padding |
| 10 | ·········1········13···············0···············0·······20879 | 10 | ·········1········13···············0···············0·······208791932·······322652160··0.647··CRC64············0 |
| 11 | ··Blocks: | 11 | ··Blocks: |
| 12 | ····Stream·····Block······CompOffset····UncompOffset·······TotalSize······UncompSize··Ratio··Check | 12 | ····Stream·····Block······CompOffset····UncompOffset·······TotalSize······UncompSize··Ratio··Check |
| 13 | ·········1·········1··············12···············0········15757 | 13 | ·········1·········1··············12···············0········15757244········25165824··0.626··CRC64 |
| 14 | ·········1·········2········15757 | 14 | ·········1·········2········15757256········25165824·········7827744········25165824··0.311··CRC64 |
| 15 | ·········1·········3········23585 | 15 | ·········1·········3········23585000········50331648·········8131540········25165824··0.323··CRC64 |
| 16 | ·········1·········4········3171 | 16 | ·········1·········4········31716540········75497472········17412628········25165824··0.692··CRC64 |
| 17 | ·········1·········5········49129 | 17 | ·········1·········5········49129168·······100663296········19987840········25165824··0.794··CRC64 |
| 18 | ·········1·········6········69117 | 18 | ·········1·········6········69117008·······125829120········18910932········25165824··0.751··CRC64 |
| 19 | ·········1·········7········8802 | 19 | ·········1·········7········88027940·······150994944········15805372········25165824··0.628··CRC64 |
| 20 | ·········1·········8·······103833 | 20 | ·········1·········8·······103833312·······176160768········14873100········25165824··0.591··CRC64 |
| 21 | ·········1·········9·······118706 | 21 | ·········1·········9·······118706412·······201326592········18244140········25165824··0.725··CRC64 |
| 22 | ·········1········10·······13695 | 22 | ·········1········10·······136950552·······226492416········19024508········25165824··0.756··CRC64 |
| 23 | ·········1········11·······155975 | 23 | ·········1········11·······155975060·······251658240········19785264········25165824··0.786··CRC64 |
| 24 | ·········1········12·······175760 | 24 | ·········1········12·······175760324·······276824064········16661544········25165824··0.662··CRC64 |
| 25 | ·········1········13·······19242 | 25 | ·········1········13·······192421868·······301989888········16369940········20662272··0.792··CRC64 |