--- /srv/reproducible-results/rbuild-debian/r-b-build.yQiL2ZOG/b1/g2o_0~20230806-4.1_amd64.changes +++ /srv/reproducible-results/rbuild-debian/r-b-build.yQiL2ZOG/b2/g2o_0~20230806-4.1_amd64.changes ├── Files │ @@ -1,5 +1,5 @@ │ │ 7a70a93557ad59803549023510875e0b 124044 libdevel optional libg2o-dev_0~20230806-4.1_amd64.deb │ - 5c15c14a6f5e7a74acdb4c5cd9c86d40 208955164 doc optional libg2o-doc_0~20230806-4.1_all.deb │ + 84785aa06c93e7743938e5ca28fc61c9 208955144 doc optional libg2o-doc_0~20230806-4.1_all.deb │ 1aef94eb707979981c0d5c7b0a483262 150032716 debug optional libg2o0t64-dbgsym_0~20230806-4.1_amd64.deb │ 66354cbee1516c4c1926b27b9a10a295 815344 libs optional libg2o0t64_0~20230806-4.1_amd64.deb ├── libg2o-doc_0~20230806-4.1_all.deb │ ├── file list │ │ @@ -1,3 +1,3 @@ │ │ -rw-r--r-- 0 0 0 4 2024-02-28 09:35:01.000000 debian-binary │ │ --rw-r--r-- 0 0 0 162140 2024-02-28 09:35:01.000000 control.tar.xz │ │ --rw-r--r-- 0 0 0 208792832 2024-02-28 09:35:01.000000 data.tar.xz │ │ +-rw-r--r-- 0 0 0 162124 2024-02-28 09:35:01.000000 control.tar.xz │ │ +-rw-r--r-- 0 0 0 208792828 2024-02-28 09:35:01.000000 data.tar.xz │ ├── control.tar.xz │ │ ├── control.tar │ │ │ ├── ./md5sums │ │ │ │ ├── ./md5sums │ │ │ │ │┄ Files differ │ ├── data.tar.xz │ │ ├── data.tar │ │ │ ├── file list │ │ │ │ @@ -180,15 +180,15 @@ │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ --rw-r--r-- 0 root (0) root (0) 606219 2024-02-28 09:35:01.000000 ./usr/share/doc/libg2o-dev/g2o.pdf.gz │ │ │ │ +-rw-r--r-- 0 root (0) root (0) 606209 2024-02-28 09:35:01.000000 ./usr/share/doc/libg2o-dev/g2o.pdf.gz │ │ │ │ drwxr-xr-x 0 root (0) root (0) 0 2024-02-28 09:35:01.000000 ./usr/share/doc/libg2o-dev/html/ │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ -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 │ │ │ │ -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 │ │ │ ├── ./usr/share/doc/libg2o-dev/g2o.pdf.gz │ │ │ │ ├── g2o.pdf │ │ │ │ │ ├── pdftotext {} - │ │ │ │ │ │ @@ -1,12 +1,12 @@ │ │ │ │ │ │ g2o: A general Framework for (Hyper) Graph Optimization │ │ │ │ │ │ Giorgio Grisetti, Rainer Kümmerle, Hauke Strasdat, Kurt Konolige │ │ │ │ │ │ email: {grisetti,kuemmerl}@informatik.uni-freiburg.de │ │ │ │ │ │ strasdat@gmail.com konolige@willowgarage.com │ │ │ │ │ │ -February 22, 2026 │ │ │ │ │ │ +January 21, 2025 │ │ │ │ │ │ In this document we describe a C++ framework for performing the optimization of nonlinear least │ │ │ │ │ │ squares problems that can be embedded as a graph or in a hyper-graph. A hyper-graph is an extension │ │ │ │ │ │ of a graph where an edge can connect multiple nodes and not only two. Several problems in robotics and │ │ │ │ │ │ in computer vision require to find the optimum of an error function with respect of a set of parameters. │ │ │ │ │ │ Examples include, popular applications like SLAM and Bundle adjustment. │ │ │ │ │ │ In the literature, many approaches have been proposed to address this class of problems. The naive │ │ │ │ │ │ implementation of standard methods, like Levenberg-Marquardt or Gauss-Newton can lead to acceptable