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fix swapped row/columns in gaussian covariance #71

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fix swapped row/columns in gaussian covariance #71

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2 changes: 1 addition & 1 deletion phaser_common/src/distribution/bingham.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ Eigen::MatrixXd Bingham::gaussianCovariance(bool angle) {
Eigen::MatrixXd samples;
sample(&samples, sample_count);
Eigen::VectorXd m = mode();
Eigen::MatrixXd zero_samples = samples - m.replicate(samples.rows(), 1);
Eigen::MatrixXd zero_samples = samples.transpose() - m.replicate(1, samples.cols());
return zero_samples * zero_samples.transpose() / sample_count;
}
}
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