Add FusedCovCacheMode for GICP and VGICP #40
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Add an option to change the cache mode of fused covariance matrices (i.e.,
mahalanobis)FusedCovCacheMode::FULL: Stores cached cov as 4x4 double matrix (128 bit per point, fast)FusedCovCacheMode::COMPACT: Stores cached cov as 3x3 float upper-triangular matrix (24 bit per point, fast)FusedCovCacheMode::NONE: Do not cache fused covs (re-calculate them every linearization) (0 bit per point, slow)