Merge pull request #690 from ToniRV/fix/shonan_averaging_dense_to_sparse

Fix/shonan averaging dense to sparse
borglab · Feb 4, 2021 · b6bd656 · b6bd656
2 parents 8261326 + 44d9c77
commit b6bd656
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/gtsam/sfm/ShonanAveraging.cpp b/gtsam/sfm/ShonanAveraging.cpp
@@ -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);