diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc index 65fe7c607..dbfabede2 100644 --- a/internal/ceres/covariance_impl.cc +++ b/internal/ceres/covariance_impl.cc @@ -217,7 +217,7 @@ bool CovarianceImpl::GetCovarianceBlockInTangentOrAmbientSpace( const int block2_local_size = block2->LocalSize(); ConstMatrixRef cov( - covariance_matrix_->values() + rows[row_begin], block1_size, row_size); + covariance_matrix_->values() + rows[row_begin], block1_local_size, row_size); // Fast path when there are no local parameterizations or if the // user does not want it lifted to the ambient space.