From ab864530bfa161a42454674646cee000bfd1237b Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Fri, 28 Nov 2014 01:57:28 +0100
Subject: [PATCH] Fixed small cast issue

---
 gtsam/slam/SmartFactorBase.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index 5d57d2862..d9e7b9819 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -280,7 +280,7 @@ public:
 
       Vector bi;
       try {
-        bi = -(cameras[i].project(point, Fi, Ei, static_cast<Matrix25&>(Hcali)) - this->measured_.at(i)).vector();
+        bi = -(cameras[i].project(point, Fi, Ei, Hcali) - this->measured_.at(i)).vector();
         if(body_P_sensor_){
           Pose3 w_Pose_body = (cameras[i].pose()).compose(body_P_sensor_->inverse());
           Matrix J(6, 6);