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Merge pull request #690 from ToniRV/fix/shonan_averaging_dense_to_sparse 

Fix/shonan averaging dense to sparse
release/4.3a0
Frank Dellaert 2021-02-04 00:07:52 -05:00 committed by GitHub
parent 8261326e78 44d9c77667
commit b6bd656584
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gtsam/sfm/ShonanAveraging.cpp
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@ -553,7 +553,7 @@ static bool PowerMinimumEigenValue(
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));
AcceleratedPowerMethod<Sparse> apmShiftedOperator(C, initial);