diff --git a/fuse_variables/include/fuse_variables/pinhole_camera_simple.h b/fuse_variables/include/fuse_variables/pinhole_camera_simple.h
index 03862e89e..33557e39b 100644
--- a/fuse_variables/include/fuse_variables/pinhole_camera_simple.h
+++ b/fuse_variables/include/fuse_variables/pinhole_camera_simple.h
@@ -34,8 +34,8 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  */
-#ifndef FUSE_VARIABLES_PINHOLE_CAMERA_H
-#define FUSE_VARIABLES_PINHOLE_CAMERA_H
+#ifndef FUSE_VARIABLES_PINHOLE_CAMERA_SIMPLE_H
+#define FUSE_VARIABLES_PINHOLE_CAMERA_SIMPLE_H
 
 #include <fuse_core/fuse_macros.h>
 #include <fuse_core/serialization.h>
@@ -164,4 +164,4 @@ class PinholeCameraSimple : public BaseCamera<3>
 
 BOOST_CLASS_EXPORT_KEY(fuse_variables::PinholeCameraSimple);
 
-#endif  // FUSE_VARIABLES_PINHOLE_CAMERA_H
+#endif  // FUSE_VARIABLES_PINHOLE_CAMERA_SIMPLE_H
diff --git a/fuse_variables/test/test_pinhole_camera_simple.cpp b/fuse_variables/test/test_pinhole_camera_simple.cpp
index 93c3510f3..530516b01 100644
--- a/fuse_variables/test/test_pinhole_camera_simple.cpp
+++ b/fuse_variables/test/test_pinhole_camera_simple.cpp
@@ -98,7 +98,7 @@ TEST(PinholeCameraSimple, Optimization)
   K.r2() = 5;
 
   // Create a simple a constraint
-  ceres::CostFunction* cost_function = new ceres::AutoDiffCostFunction<CostFunctor, 4, 4>(new CostFunctor());
+  ceres::CostFunction* cost_function = new ceres::AutoDiffCostFunction<CostFunctor, 3, 3>(new CostFunctor());
 
   // Build the problem.
   ceres::Problem problem;