From a8c15103433f3475c0930103a813df2e7788045f Mon Sep 17 00:00:00 2001
From: nsrinivasan7 <natesh.rvce@gmail.com>
Date: Tue, 2 Dec 2014 14:20:23 -0500
Subject: [PATCH] fixed all. Cant deal with conservative resize becaue this is
 dependent on the template dimension. Maybe OptionalJacobian<3,dimK> or
 somehting like that ?

---
 gtsam/geometry/PinholeCamera.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index a70bb2301..ca6c64bb9 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -428,8 +428,8 @@ public:
    */
   double range(
       const Point3& point, //
-      boost::optional<Matrix&> Dpose = boost::none,
-      boost::optional<Matrix&> Dpoint = boost::none) const {
+      OptionalJacobian<1,6> Dpose = boost::none,
+      OptionalJacobian<1,3> Dpoint = boost::none) const {
     double result = pose_.range(point, Dpose, Dpoint);
     if (Dpose) {
       // Add columns of zeros to Jacobian for calibration
@@ -500,8 +500,8 @@ public:
    */
   double range(
       const CalibratedCamera& camera, //
-      boost::optional<Matrix&> Dpose = boost::none,
-      boost::optional<Matrix&> Dother = boost::none) const {
+      OptionalJacobian<1,6> Dpose = boost::none,
+      OptionalJacobian<1,6> Dother = boost::none) const {
     return pose_.range(camera.pose_, Dpose, Dother);
   }