Very small improvement
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				|  | @ -220,17 +220,15 @@ public: | |||
|   static SymmetricBlockMatrix SchurComplement(const FBlocks& Fblocks, | ||||
|       const Matrix& E, const Vector& b, const double lambda = 0.0, | ||||
|       bool diagonalDamping = false) { | ||||
|     SymmetricBlockMatrix augmentedHessian; | ||||
|     if (E.cols() == 2) { | ||||
|       Matrix2 P; | ||||
|       ComputePointCovariance(P, E, lambda, diagonalDamping); | ||||
|       augmentedHessian = SchurComplement(Fblocks, E, P, b); | ||||
|       return SchurComplement(Fblocks, E, P, b); | ||||
|     } else { | ||||
|       Matrix3 P; | ||||
|       ComputePointCovariance(P, E, lambda, diagonalDamping); | ||||
|       augmentedHessian = SchurComplement(Fblocks, E, P, b); | ||||
|       return SchurComplement(Fblocks, E, P, b); | ||||
|     } | ||||
|     return augmentedHessian; | ||||
|   } | ||||
| 
 | ||||
|   /**
 | ||||
|  |  | |||
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