From 3e480560e8f70a3d686e7344e3edab75995764e6 Mon Sep 17 00:00:00 2001
From: Raphael Maenle <raphael@maenle.net>
Date: Wed, 12 Jun 2019 09:25:38 +0000
Subject: [PATCH] Update msckf_vio.cpp

---
 src/msckf_vio.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/msckf_vio.cpp b/src/msckf_vio.cpp
index acafb60..c9a3188 100644
--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -1293,9 +1293,9 @@ void MsckfVio::PhotometricMeasurementJacobian(
   dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
 
   // Intermediate Jakobians
-  H_rho = dh_dGpij * dGpj_drhoj; // 1 x 1
-  H_plj = dh_dXplj; // 1 x 6
-  H_pAj = dh_dGpij * dGpj_XpAj; // 1 x 6
+  H_rho = dh_dGpij * dGpj_drhoj; // 2 x 1
+  H_plj = dh_dXplj; // 2 x 6
+  H_pAj = dh_dGpij * dGpj_XpAj; // 2 x 6
 
   // calculate residual