Sameer Agarwal 7129cd3157 Pay attention to condition number in covariance estimation. ...

1. Sparse covariance estimation now uses cholmod_rcond to
detect singular Jacobians.

2. Dense covariance estimation now uses relative magnitude
of singular/eigen values to compute the pseudoinverse.

3. Truncation logic is now unified with Solver::Options::null_space_rank.

Change-Id: I095bd737510c836b4251255926190a7f31d64bce

2013-06-02 23:36:27 -07:00

..

ceres

Pay attention to condition number in covariance estimation.

2013-06-02 23:36:27 -07:00