From e8c5c7f49edad6f5a8119d2563e7f0a48eff6b18 Mon Sep 17 00:00:00 2001
From: Jeff Irion <JeffLIrion@users.noreply.github.com>
Date: Tue, 15 Mar 2022 20:35:51 -0700
Subject: [PATCH] Fix `upper_triangular_matrix_to_full_matrix`

---
 graphslam/util.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/graphslam/util.py b/graphslam/util.py
index fd1368b..4054f63 100644
--- 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