From 29dc382c226cdefedbd96e2edc6db7a3fd204530 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 11 Dec 2014 13:19:19 +0100
Subject: [PATCH] Fixed small bug

---
 gtsam_unstable/timing/timeCameraExpression.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam_unstable/timing/timeCameraExpression.cpp b/gtsam_unstable/timing/timeCameraExpression.cpp
index 92522c440..f872ce78a 100644
--- 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);
 }