From ddfb45efb03544636f69268f85a703816a730c57 Mon Sep 17 00:00:00 2001
From: John Lambert <johnlambert@gatech.edu>
Date: Sun, 11 Jul 2021 01:02:36 -0600
Subject: [PATCH] fix typo in block indexing, 3x3 covariance for Pose2 should
 have just 1x1 block for theta

---
 gtsam/sfm/ShonanAveraging.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/sfm/ShonanAveraging.cpp b/gtsam/sfm/ShonanAveraging.cpp
index 88c393f16..76fd1bfc7 100644
--- a/gtsam/sfm/ShonanAveraging.cpp
+++ b/gtsam/sfm/ShonanAveraging.cpp
@@ -955,7 +955,7 @@ static BinaryMeasurement<Rot2> convertPose2ToBinaryMeasurementRot2(
         "parseMeasurements<Rot2> can only convert Pose2 measurements "
         "with Gaussian noise models.");
   const Matrix3 M = gaussian->covariance();
-  auto model = noiseModel::Gaussian::Covariance(M.block<2, 2>(2, 2));
+  auto model = noiseModel::Gaussian::Covariance(M.block<1, 1>(2, 2));
   return BinaryMeasurement<Rot2>(f->key1(), f->key2(), f->measured().rotation(),
                                  model);
 }