Fix SqrtInformation (#47)

cvg · Jun 24, 2024 · c3b9f42 · c3b9f42
1 parent 7970b68
commit c3b9f42
Showing 1 changed file with 1 addition and 1 deletion.
diff --git 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.