diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp
index 96616e8cc..9ee58233c 100644
--- a/gtsam/geometry/OrientedPlane3.cpp
+++ b/gtsam/geometry/OrientedPlane3.cpp
@@ -35,8 +35,8 @@ void OrientedPlane3::print(const std::string& s) const {
 /* ************************************************************************* */
   OrientedPlane3 OrientedPlane3::Transform (const gtsam::OrientedPlane3& plane,
                             const gtsam::Pose3& xr,
-                            boost::optional<Matrix&> Hr,
-                            boost::optional<Matrix&> Hp)
+                            OptionalJacobian<3, 6> Hr,
+                            OptionalJacobian<3, 3> Hp)
   {
     Matrix n_hr;
     Matrix n_hp;
diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h
index c73274dff..28b37638a 100644
--- a/gtsam/geometry/OrientedPlane3.h
+++ b/gtsam/geometry/OrientedPlane3.h
@@ -76,8 +76,8 @@ public:
   /// Transforms a plane to the specified pose
   static OrientedPlane3 Transform (const gtsam::OrientedPlane3& plane,
                             const gtsam::Pose3& xr,
-                            boost::optional<Matrix&> Hr,
-                            boost::optional<Matrix&> Hp);
+                            OptionalJacobian<3, 6> Hr = boost::none,
+                            OptionalJacobian<3, 3> Hp = boost::none);
 
   /// Computes the error between two poses
   Vector3 error (const gtsam::OrientedPlane3& plane) const;