587     g.covariance (0,0) = accumulator_ (0,0)/count_f - g.mu.r*g.mu.r + epsilon_;  in fit()
588     g.covariance (0,1) = accumulator_ (0,1)/count_f - g.mu.r*g.mu.g;  in fit()
589     g.covariance (0,2) = accumulator_ (0,2)/count_f - g.mu.r*g.mu.b;  in fit()
590     g.covariance (1,0) = accumulator_ (1,0)/count_f - g.mu.g*g.mu.r;  in fit()
591     g.covariance (1,1) = accumulator_ (1,1)/count_f - g.mu.g*g.mu.g + epsilon_;  in fit()
592     g.covariance (1,2) = accumulator_ (1,2)/count_f - g.mu.g*g.mu.b;  in fit()
593     g.covariance (2,0) = accumulator_ (2,0)/count_f - g.mu.b*g.mu.r;  in fit()
594     g.covariance (2,1) = accumulator_ (2,1)/count_f - g.mu.b*g.mu.g;  in fit()
595     g.covariance (2,2) = accumulator_ (2,2)/count_f - g.mu.b*g.mu.b + epsilon_;  in fit()
598 …g.determinant = g.covariance (0,0)*(g.covariance (1,1)*g.covariance (2,2) - g.covariance (1,2)*g.c…  in fit()
599 …- g.covariance (0,1)*(g.covariance (1,0)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,0…  in fit()
600 …+ g.covariance (0,2)*(g.covariance (1,0)*g.covariance (2,1) - g.covariance (1,1)*g.covariance (2,0…  in fit()
603 …g.inverse (0,0) =  (g.covariance (1,1)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,1))…  in fit()
604 …g.inverse (1,0) = -(g.covariance (1,0)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,0))…  in fit()
605 …g.inverse (2,0) =  (g.covariance (1,0)*g.covariance (2,1) - g.covariance (1,1)*g.covariance (2,0))…  in fit()
606 …g.inverse (0,1) = -(g.covariance (0,1)*g.covariance (2,2) - g.covariance (0,2)*g.covariance (2,1))…  in fit()
607 …g.inverse (1,1) =  (g.covariance (0,0)*g.covariance (2,2) - g.covariance (0,2)*g.covariance (2,0))…  in fit()
608 …g.inverse (2,1) = -(g.covariance (0,0)*g.covariance (2,1) - g.covariance (0,1)*g.covariance (2,0))…  in fit()
609 …g.inverse (0,2) =  (g.covariance (0,1)*g.covariance (1,2) - g.covariance (0,2)*g.covariance (1,1))…  in fit()
610 …g.inverse (1,2) = -(g.covariance (0,0)*g.covariance (1,2) - g.covariance (0,2)*g.covariance (1,0))…  in fit()
611 …g.inverse (2,2) =  (g.covariance (0,0)*g.covariance (1,1) - g.covariance (0,1)*g.covariance (1,0))…  in fit()
620       Eigen::JacobiSVD<Eigen::Matrix3f> svd (g.covariance, Eigen::ComputeFullU);  in fit()