Wannes Van Loock b0bf9fd2a9 Add covariance matrix for a vector of parameters ...

Computing the covariance matrix for a number of parameter blocks
previously required adding all parameter blocks to the computation and
subsequently assembling the matrix by concatenating all the blocks.

This patch adds the computation of the covariance matrix for a vector
of parameter blocks. All covariance block pairs are added automatically
and the resulting covariance matrix is assembled in the order the
parameter blocks appear.

Change-Id: I3b70c63f16862adc23a1d7fb7a21dde4e68abe9a

2016-01-04 20:26:40 +00:00

..

ceres

Add covariance matrix for a vector of parameters

2016-01-04 20:26:40 +00:00