diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 6507e84fc..9a510c251 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -489,10 +489,10 @@ boost::shared_ptr > ISAM2::recalculate(const FastSet& markedKe // Generate ordering gttic(Ordering); Ordering ordering = Ordering::COLAMDConstrained(affectedFactorsVarIndex, constraintGroups); + gttoc(Ordering); ISAM2BayesTree::shared_ptr bayesTree = ISAM2JunctionTree(GaussianEliminationTree( factors, affectedFactorsVarIndex, ordering)).eliminate(params_.getEliminationFunction()).first; - gttoc(Ordering); gttoc(reorder_and_eliminate);