Rename sqrt info transpose --> sqrt info upper

src/constraint_base.cpp

@@ -99,7 +99,7 @@ const Eigen::MatrixXs& ConstraintBase::getMeasurementCovariance() const
 
 const Eigen::MatrixXs& ConstraintBase::getMeasurementSquareRootInformationTransposed() const
 {
-    return getFeaturePtr()->getMeasurementSquareRootInformationTransposed();
+    return getFeaturePtr()->getMeasurementSquareRootInformationUpper();
 }
 
 CaptureBasePtr ConstraintBase::getCapturePtr() const

src/constraint_fix.h

@@ -65,7 +65,7 @@ inline bool ConstraintFix::operator ()(const T* const _p, const T* const _o, T*
 
     // residual
     Eigen::Map<Eigen::Matrix<T,3,1>> res(_residuals);
-    res = getFeaturePtr()->getMeasurementSquareRootInformationTransposed().cast<T>() * er;
+    res = getFeaturePtr()->getMeasurementSquareRootInformationUpper().cast<T>() * er;
 
     ////////////////////////////////////////////////////////
     // print Jacobian. Uncomment this as you wish (remember to uncomment #include "ceres/jet.h" above):

src/constraint_fix_3D.h

@@ -57,7 +57,7 @@ inline bool ConstraintFix3D::operator ()(const T* const _p, const T* const _o, T
 
     // residual
     Eigen::Map<Eigen::Matrix<T, 6, 1>> res(_residuals);
-    res               = getFeaturePtr()->getMeasurementSquareRootInformationTransposed().cast<T>() * er;
+    res               = getFeaturePtr()->getMeasurementSquareRootInformationUpper().cast<T>() * er;
 
     return true;
 }