1 files changed, 4 insertions, 3 deletions
diff --git a/src/feature.h b/src/feature.h
index c8b835e..a8af84e 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -4,11 +4,12 @@
 #include <iostream>
 #include "types.h"
 
-using Eigen::Vector2d;
-using Eigen::Vector3d;
+using Eigen::Dynamic;
 using Eigen::Matrix;
 using Eigen::MatrixXd;
 using Eigen::Quaterniond;
+using Eigen::Vector2d;
+using Eigen::Vector3d;
 using std::cout;
 using std::cerr;
 using std::endl;
@@ -43,7 +44,7 @@ class Feature
                 const Vector3d &xr);
         Matrix<double,3,9> Fx( double dt );
         Matrix<double,3,3> Fy( const Vector3d &vel, const Vector3d &ang, double dt);
-        Matrix<double,6,9> Hx( const Vector3d &pos, const Quaterniond &q);
+        Matrix<double,Dynamic,9> Hx( const Vector3d &pos, const Quaterniond &q);
         Matrix<double,6,3> Hy( const Vector3d &pos, const Quaterniond &q);
         Matrix<double,6,1> h( const Vector3d &x, const Quaterniond &q);
         Matrix<double,3,6> L();