Update expressions.h

Template dimension too
borglab · Oct 30, 2023 · a06303e · a06303e
1 parent fd02acc
commit a06303e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h
@@ -157,7 +157,7 @@ namespace internal {
 template <class CALIBRATION, class POINT>
 inline Point2 project6(const Pose3& x, const POINT& p, const CALIBRATION& K,
                        OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint,
-                       OptionalJacobian<2, 5> Dcal) {
+                       OptionalJacobian<2, CALIBRATION::dimension> Dcal) {
   return PinholeCamera<CALIBRATION>(x, K).project(p, Dpose, Dpoint, Dcal);
 }
 }