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Add visualization of more internal matrices

Mateo de Mayo requested to merge mateosss/uistate into main

Besides visualizing the Jacobian and residuals Jr this adds visualization of:

  • Jr after QR factorization: Jr_QR
  • Marginalization Jr: Jr_m
  • Marginalization Jr_QR: Jr_m_QR
  • Hessian: Hb
  • Marginalization Hb: Hb_m

Remaining TODO:

  • show two block panels at the same time with different slider selectors EDIT: won't do for now
  • different ui options that enable or disable the different matrices selectively
  • remove inheritance to see what places I could unify. EDIT: won't do for now
  • put keyframe identifier in the visualizations
  • subpanel: the UI is starting to get quite big, let's modularize with subpanels EDIT: won't do for now
Edited by Mateo de Mayo

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