commit e6707b2411b9a823b6c748f9f9d0b22225d767bb
author Sameer Agarwal <sameeragarwal@google.com> Tue Apr 16 15:44:23 2013 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Tue Apr 16 15:44:23 2013 -0700
tree 5c8f6926aa4d4ac2e28676e567ae526a249d21ed
parent c7e69beb52c2c47182eaf8295025a668d0eefd80

Lint fixes from William Rucklidge.

Change-Id: I57a6383bb875b24083cd9b7049333292d26f718c

internal/ceres/residual_block.cc

diff --git a/internal/ceres/residual_block.cc b/internal/ceres/residual_block.cc
index 4906607..649f3f7 100644
--- a/internal/ceres/residual_block.cc
+++ b/internal/ceres/residual_block.cc
@@ -45,6 +45,8 @@
 #include "ceres/local_parameterization.h"
 #include "ceres/loss_function.h"
 
+using Eigen::Dynamic;
+
 namespace ceres {
 namespace internal {
 
@@ -140,8 +142,8 @@
 
         // Apply local reparameterization to the jacobians.
         if (parameter_block->LocalParameterizationJacobian() != NULL) {
-          MatrixMatrixMultiply
-              <Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 0>(
+          // jacobians[i] = global_jacobians[i] * global_to_local_jacobian.
+          MatrixMatrixMultiply<Dynamic, Dynamic, Dynamic, Dynamic, 0>(
               global_jacobians[i],
               num_residuals,
               parameter_block->Size(),