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Optimizer classes for aslam_cv, kalibr, aslam_incremental_calibration, ..

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@huberya , this works on my side. Let's see what Jenkins says...

They are outdated thanks to the new matrix stack (PR #137 ). See 97b43ebf471f928cd87cfb4822503bc1d042308d as an example of how remove the awful duplication that always come with those as a...

This may not make sense for the incremental calibration project but there is nothing logically wrong with it. Currently we are implementing a small class for trust region methods and...

Jerome introduced already a assertion to at least informative fail the other case with d1d42388c1cae3f9b75fefce5139b0f22f4c8172.

bug

We are not using \rho(x) as the cost. We are using w(x) x^T x. This should be changed.