Fixed small bug

2014-12-11 13:19:19 +01:00 · 2014-12-11 13:19:19 +01:00 · 29dc382c22
parent f588a3928a
commit 29dc382c22
1 changed files with 1 additions and 1 deletions
--- a/gtsam_unstable/timing/timeCameraExpression.cpp
+++ b/gtsam_unstable/timing/timeCameraExpression.cpp
@ -32,7 +32,7 @@ using namespace gtsam;
 boost::shared_ptr<Cal3_S2> fixedK(new Cal3_S2());

 Point2 myProject(const Pose3& pose, const Point3& point,
-    boost::optional<Matrix26&> H1, boost::optional<Matrix23&> H2) {
+    OptionalJacobian<2, 6> H1, OptionalJacobian<2, 3> H2) {
  PinholeCamera<Cal3_S2> camera(pose, *fixedK);
  return camera.project(point, H1, H2, boost::none);
 }