From 23bad6e5ee1c886743caa5bd9a109b3489fdc357 Mon Sep 17 00:00:00 2001
From: B1ueber2y <b1ueber2y@gmail.com>
Date: Thu, 20 Jun 2024 20:30:28 +0200
Subject: [PATCH] align convention with ceres doc.

---
 _pyceres/factors/bindings.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/_pyceres/factors/bindings.h b/_pyceres/factors/bindings.h
index b2eaa62..114a38d 100644
--- a/_pyceres/factors/bindings.h
+++ b/_pyceres/factors/bindings.h
@@ -10,7 +10,7 @@
 namespace py = pybind11;
 
 inline Eigen::MatrixXd SqrtInformation(const Eigen::MatrixXd& covariance) {
-  return covariance.inverse().llt().matrixL();
+  return covariance.inverse().llt().matrixL().transpose();
 }
 
 // Mahalanobis squared distance between two parameters.
@@ -39,7 +39,7 @@ class NormalError {
     }
     Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, 1>> residuals(residuals_ptr,
                                                               dimension);
-    residuals.applyOnTheLeft(sqrt_information_.transpose().template cast<T>());
+    residuals.applyOnTheLeft(sqrt_information_.template cast<T>());
     return true;
   }