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Make purturb static

release/4.3a0
jingwuOUO 2020-12-11 01:21:14 -05:00
parent 55ad1f16a6
commit 525dbb6058
1 changed files with 1 additions and 1 deletions
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gtsam/sfm/ShonanAveraging.cpp
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@ -485,7 +485,7 @@ Sparse ShonanAveraging<d>::computeA(const Matrix &S) const {
// ref : Part III. C, Rosen, D. and Carlone, L., 2017, September. Computational // ref : Part III. C, Rosen, D. and Carlone, L., 2017, September. Computational
// enhancements for certifiably correct SLAM. In Proceedings of the // enhancements for certifiably correct SLAM. In Proceedings of the
// International Conference on Intelligent Robots and Systems. // International Conference on Intelligent Robots and Systems.
Vector perturb(const Vector &initialVector) { static Vector perturb(const Vector &initialVector) {
// generate a 0.03*||x_0||_2 as stated in David's paper // generate a 0.03*||x_0||_2 as stated in David's paper
int n = initialVector.rows(); int n = initialVector.rows();
Vector disturb = Vector::Random(n); Vector disturb = Vector::Random(n);