From acbcf79417f759eba0820a21562c1a198b059a7d Mon Sep 17 00:00:00 2001
From: g-spacewhale <raphael@maenle.net>
Date: Tue, 30 Apr 2019 18:25:05 +0200
Subject: [PATCH] fixed some typos in jacobian

---
 src/msckf_vio.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/msckf_vio.cpp b/src/msckf_vio.cpp
index 0990c45..965484d 100644
--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -1047,7 +1047,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
 
     //d{}^Gp_P{ij} / \rho_i
     double rho = feature.anchor_rho;
-    dGpi_drhoj = feature.T_anchor_w.linear() * Eigen::Vector3d(-feature.anchorPatch_ideal[count].x/(rho*rho), -feature.anchorPatch_ideal[count].y/(rho*rho), 1/(rho*rho));
+    dGpi_drhoj = feature.T_anchor_w.linear() * Eigen::Vector3d(-feature.anchorPatch_ideal[count].x/(rho*rho), -feature.anchorPatch_ideal[count].y/(rho*rho), -1/(rho*rho));
 
     dGpi_XpAj.block<3, 3>(0, 0) = skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho), feature.anchorPatch_ideal[count].y/(rho), 1/(rho)));
     dGpi_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();