Fixing bug with number of residual calculation.

locusrobotics · Apr 8, 2024 · 119ccf6 · 119ccf6
1 parent e17b717
commit 119ccf6
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/fuse_constraints/src/fixed_3d_landmark_constraint.cpp b/fuse_constraints/src/fixed_3d_landmark_constraint.cpp
@@ -109,7 +109,7 @@ ceres::CostFunction* Fixed3DLandmarkConstraint::costFunction() const
 {
   // 2 Residuals Per 3D point
   return new ceres::AutoDiffCostFunction<Fixed3DLandmarkCostFunctor, ceres::DYNAMIC, 3, 4, 4>(
-      new Fixed3DLandmarkCostFunctor(sqrt_information_, mean_, observations_, pts3d_), 2*pts3d_.rows());
+      new Fixed3DLandmarkCostFunctor(sqrt_information_, mean_, observations_, pts3d_), 2 * pts3d_.rows());
 }
 
 }  // namespace fuse_constraints

diff --git a/fuse_constraints/src/fixed_3d_landmark_simple_covariance_constraint.cpp b/fuse_constraints/src/fixed_3d_landmark_simple_covariance_constraint.cpp
@@ -107,7 +107,7 @@ void Fixed3DLandmarkSimpleCovarianceConstraint::print(std::ostream& stream) cons
 ceres::CostFunction* Fixed3DLandmarkSimpleCovarianceConstraint::costFunction() const
 {
   return new ceres::AutoDiffCostFunction<Fixed3DLandmarkSimpleCovarianceCostFunctor, ceres::DYNAMIC, 3, 4, 4>(
-      new Fixed3DLandmarkSimpleCovarianceCostFunctor(sqrt_information_, mean_, observations_, pts3d_), pts3d_.rows());
+      new Fixed3DLandmarkSimpleCovarianceCostFunctor(sqrt_information_, mean_, observations_, pts3d_), 2 * pts3d_.rows());
 }
 
 }  // namespace fuse_constraints