Fix upper_triangular_matrix_to_full_matrix

JeffLIrion · Mar 16, 2022 · e8c5c7f · e8c5c7f
1 parent d70618e
commit e8c5c7f
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/graphslam/util.py b/graphslam/util.py
@@ -64,11 +64,10 @@ def upper_triangular_matrix_to_full_matrix(arr, n):
 
     """
     triu0 = np.triu_indices(n, 0)
-    triu1 = np.triu_indices(n, 1)
     tril1 = np.tril_indices(n, -1)
 
     mat = np.zeros((n, n), dtype=np.float64)
     mat[triu0] = arr
-    mat[tril1] = mat[triu1]
+    mat[tril1] = mat.T[tril1]
 
     return mat