commit 2c1c0932e9d3f91691e5c5fce46b4440e181a8bc
author Sameer Agarwal <sameeragarwal@google.com> Mon Mar 23 11:15:32 2020 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Mon Mar 23 11:15:32 2020 -0700
tree 193e6c6e9197684d2f7f474a67b0a20b0c6ad974
parent 8904fa4887ed7b3e6d110ad5a98efbc2df48595e

Update documentation in autodiff.h

Change-Id: Icc2753b4f5be95022ffd92e479cdd3d9d7959d4c

include/ceres/internal/autodiff.h

diff --git a/include/ceres/internal/autodiff.h b/include/ceres/internal/autodiff.h
index cefcfb4..4b97b5b 100644
--- a/include/ceres/internal/autodiff.h
+++ b/include/ceres/internal/autodiff.h
@@ -206,9 +206,9 @@
 // If one having three parameter blocks with dimensions (3, 2, 4), the call
 // Make1stOrderPerturbations<integer_sequence<3, 2, 4>::Apply(params, x);
 // will result in the following calls to Make1stOrderPerturbation:
-// Make1stOrderPerturbation<0, 3>(params[0], x + 0);
-// Make1stOrderPerturbation<3, 2>(params[1], x + 3);
-// Make1stOrderPerturbation<5, 4>(params[2], x + 5);
+// Make1stOrderPerturbation<0, 0, 3>::Apply(params[0], x + 0);
+// Make1stOrderPerturbation<0, 3, 2>::Apply(params[1], x + 3);
+// Make1stOrderPerturbation<0, 5, 4>::Apply(params[2], x + 5);
 template <typename Seq, int ParameterIdx = 0, int Offset = 0>
 struct Make1stOrderPerturbations;
 

internal/ceres/local_parameterization.cc

diff --git a/internal/ceres/local_parameterization.cc b/internal/ceres/local_parameterization.cc
index 9e1f2a4..b6316f1 100644
--- a/internal/ceres/local_parameterization.cc
+++ b/internal/ceres/local_parameterization.cc
@@ -313,7 +313,7 @@
 
   int x_cursor = 0;
   int delta_cursor = 0;
-  for (const auto& param : local_params_) {

+  for (const auto& param : local_params_) {
     const int local_size = param->LocalSize();
     const int global_size = param->GlobalSize();