SelfAdjoint covariances
Covariances/information matrices are symmetric. We could use/compute/store only the upper or lower part.
This idea can take different levels of deepness:
- Just a convention: Leave most of the code as it is now and just take the upper (or lower) with the
SelfAdjointView
whenever a covariance/information matrix has to be passed to ceres etc. Removing theisSymmetric()
check, for instance. - Refactoring the code: Changing the operations saving time to compute numbers that we do not need and store them.
Edited by Joan Vallvé Navarro