diff --git a/localization/sparse_mapping/include/sparse_mapping/reprojection.h b/localization/sparse_mapping/include/sparse_mapping/reprojection.h
index 379f9994e3..5e0243c8f4 100644
--- a/localization/sparse_mapping/include/sparse_mapping/reprojection.h
+++ b/localization/sparse_mapping/include/sparse_mapping/reprojection.h
@@ -60,7 +60,7 @@ namespace sparse_mapping {
  **/
 void BundleAdjust(std::vector<std::map<int, int> > const& pid_to_cid_fid,
                   std::vector<Eigen::Matrix2Xd > const& cid_to_keypoint_map,
-std::vector<int> const& cid_to_camera_id,
+                  std::vector<int> const& cid_to_camera_id,
                   std::vector<camera::CameraParameters> const& camera_id_to_camera_params,
                   std::vector<Eigen::Affine3d> * cid_to_cam_t_global,
                   std::vector<Eigen::Vector3d> * pid_to_xyz,
diff --git a/localization/sparse_mapping/include/sparse_mapping/sparse_mapping.h b/localization/sparse_mapping/include/sparse_mapping/sparse_mapping.h
index fb9fbfd26d..1dfd3d2d00 100644
--- a/localization/sparse_mapping/include/sparse_mapping/sparse_mapping.h
+++ b/localization/sparse_mapping/include/sparse_mapping/sparse_mapping.h
@@ -180,8 +180,8 @@ double ComputeRaysAngle(int pid, std::vector<std::map<int, int> > const& pid_to_
                         std::vector<Eigen::Vector3d> const& cam_ctrs, std::vector<Eigen::Vector3d> const& pid_to_xyz);
 
 // Filter points by reprojection error and other criteria
-void FilterPID(double reproj_thresh,  std::vector<camera::CameraParameters> const& camera_id_to_camera_params,
-                               std::vector<Eigen::Affine3d > const& cid_to_cam_t_global,
+void FilterPID(double reproj_thresh, std::vector<int> const& cid_to_camera_id,
+               std::vector<camera::CameraParameters> const& camera_id_to_camera_params,
                std::vector<Eigen::Affine3d> const& cid_to_cam_t_global,
                std::vector<Eigen::Matrix2Xd> const& cid_to_keypoint_map,
                std::vector<std::map<int, int> >* pid_to_cid_fid, std::vector<Eigen::Vector3d>* pid_to_xyz,
diff --git a/localization/sparse_mapping/include/sparse_mapping/tensor.h b/localization/sparse_mapping/include/sparse_mapping/tensor.h
index 58381fbaa2..cf382361f5 100644
--- a/localization/sparse_mapping/include/sparse_mapping/tensor.h
+++ b/localization/sparse_mapping/include/sparse_mapping/tensor.h
@@ -176,8 +176,8 @@ namespace sparse_mapping {
 
   // Triangulates all points given camera positions. This is better
   // than what is in sparse map as it uses multiple view information.
-  void Triangulate(bool rm_invalid_xyz,  std::vector<int> const& cid_to_camera_id,
-                             std::vector<camera::CameraParameters> const& camera_id_to_camera_params,
+  void Triangulate(bool rm_invalid_xyz, std::vector<int> const& cid_to_camera_id,
+                   std::vector<camera::CameraParameters> const& camera_id_to_camera_params,
                    std::vector<Eigen::Affine3d> const& cid_to_cam_t_global,
                    std::vector<Eigen::Matrix2Xd> const& cid_to_keypoint_map,
                    std::vector<std::map<int, int> > * pid_to_cid_fid,