From 9c2ab0ce3b4b346587d696fa1751edd1b5cbac87 Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Wed, 15 Jul 2015 16:52:06 -0400
Subject: [PATCH] change 2 to ZDim

---
 gtsam/geometry/CameraSet.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index a60528909..1e0150768 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -161,7 +161,7 @@ public:
     for (size_t i = 0; i < m; i++) { // for each camera
 
       const MatrixZD& Fi = Fs[i];
-      const Eigen::Matrix<double, 2, N> Ei_P = //
+      const Eigen::Matrix<double, ZDim, N> Ei_P = //
           E.block(ZDim * i, 0, ZDim, N) * P;
 
       // D = (Dx2) * ZDim