diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp index bd65cf57e..ad34be5f2 100644 --- a/gtsam/linear/NoiseModel.cpp +++ b/gtsam/linear/NoiseModel.cpp @@ -236,7 +236,9 @@ SharedDiagonal Gaussian::QRColumnWise(ublas::matrix #ifdef GT_USE_LAPACK householder_denseqr_colmajor(Ab, &firstZeroRows[0]); #else - householder(Ab, maxRank); + Matrix Ab_rowWise = Ab; + householder(Ab_rowWise, maxRank); + Ab = Ab_rowWise; // FIXME: this is a really silly way of doing this #endif return Unit::Create(maxRank);