commit a0d81ad63e6a3a78563948fbb33ead80996281dd
author Sameer Agarwal <sameeragarwal@google.com> Fri Jan 28 06:20:17 2022 -0800
committer Sameer Agarwal <sameeragarwal@google.com> Fri Jan 28 06:20:17 2022 -0800
tree 19b1622190082a7b309824c275f0586560be3d3d
parent 5a99e42e19bea46f64f7dc285993382871d89450

Fix a bug in AutoDiffManifold

When computing the MinusJacobian we were passing two different
values to AutoDifferentiate for the output dimension. The template
argument was correct which is why the method was working correctly
but the function argument was incorrect (cut and paste error).

This would be fine in release mode, but in debug mode it would
trigger a check failure.

Change-Id: I0327656d1a4d34c82e4d3a8c04f27c264bce80eb

include/ceres/autodiff_manifold.h

diff --git a/include/ceres/autodiff_manifold.h b/include/ceres/autodiff_manifold.h
index b2f5c9d..8a7601f 100644
--- a/include/ceres/autodiff_manifold.h
+++ b/include/ceres/autodiff_manifold.h
@@ -249,7 +249,7 @@
       internal::StaticParameterDims<kAmbientSize, kAmbientSize>>(
       internal::MinusWrapper<Functor>(*functor_),
       parameter_ptrs,
-      kAmbientSize,
+      kTangentSize,
       y_minus_x,
       jacobian_ptrs);
 }