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2d703b17b5
The row, E, F block pattern 2, 4, 6 is a common one for bundle adjustment with reprojection error (2 residuals), homogeneous 3d points (4 params in the E-block), and camera poses (3 rotation + 3 position = 6 params for the F-block). This provides a major speedup for BA in the TheiaSfM library and likely in other applications. Change-Id: If5df8bfadc7f154856b74c3b38479c14856db47d