12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/sfm/ShonanAveraging.cpp
View File

@ -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);