From 119ccf6cfcf4641c8b795a6512ea546c5535cddf Mon Sep 17 00:00:00 2001
From: Oscar Mendez <omendez@locusrobotics.com>
Date: Mon, 8 Apr 2024 19:37:39 +0100
Subject: [PATCH] Fixing bug with number of residual calculation.

---
 fuse_constraints/src/fixed_3d_landmark_constraint.cpp           | 2 +-
 .../src/fixed_3d_landmark_simple_covariance_constraint.cpp      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/fuse_constraints/src/fixed_3d_landmark_constraint.cpp b/fuse_constraints/src/fixed_3d_landmark_constraint.cpp
index 7a865c2a0..eae3d06d7 100644
--- 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
index dae45b588..e60e6bcc6 100644
--- 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