Fixed covariance bug
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				|  | @ -880,7 +880,7 @@ static BinaryMeasurement<Rot3> convert(const BinaryMeasurement<Pose3> &p) { | |||
|   const Matrix6 M = gaussian->covariance(); | ||||
|   return BinaryMeasurement<Rot3>( | ||||
|       p.key1(), p.key2(), p.measured().rotation(), | ||||
|       noiseModel::Gaussian::Covariance(M.block<3, 3>(3, 3), true)); | ||||
|       noiseModel::Gaussian::Covariance(M.block<3, 3>(0, 0), true)); | ||||
| } | ||||
| 
 | ||||
| template <> | ||||
|  |  | |||
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