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ShonanAveraging Covariance fixes#829

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johnwlambert merged 2 commits intodevelopborglab/gtsam:developfrom shonan-covariance-fixesborglab/gtsam:shonan-covariance-fixesCopy head branch name to clipboardJul 22, 2021

+6-2

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Commits on Jul 21, 2021

• use upper 3x3 sub-block of covariance matrix for converting BetweenFactor to BinaryMeasurement, and use Isotropic in ShonanAveraging2

  johnwlambert

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• add comments about tangent space and covariance matrix ordering

  johnwlambert

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  28ecc33

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