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Fix issue #689

release/4.3a0
Toni 2021-02-03 17:54:11 -05:00
parent eb85407475
commit 1e04dced47
1 changed files with 2 additions and 2 deletions
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4
gtsam/sfm/ShonanAveraging.cpp
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@ -29,7 +29,7 @@
#include <gtsam/slam/FrobeniusFactor.h> #include <gtsam/slam/FrobeniusFactor.h>
#include <gtsam/slam/KarcherMeanFactor-inl.h> #include <gtsam/slam/KarcherMeanFactor-inl.h>
#include <Eigen/Eigenvalues> #include <eigen3/Eigen/Eigenvalues>
#include <algorithm> #include <algorithm>
#include <complex> #include <complex>
#include <iostream> #include <iostream>
@ -553,7 +553,7 @@ static bool PowerMinimumEigenValue(
return true; return true;
} }
const Sparse C = pmEigenValue * Matrix::Identity(A.rows(), A.cols()) - A; const Sparse C = pmEigenValue * Matrix::Identity(A.rows(), A.cols()).sparseView() - A;
const boost::optional<Vector> initial = perturb(S.row(0)); const boost::optional<Vector> initial = perturb(S.row(0));
AcceleratedPowerMethod<Sparse> apmShiftedOperator(C, initial); AcceleratedPowerMethod<Sparse> apmShiftedOperator(C, initial);