diff --git a/gtsam/nonlinear/AdaptAutoDiff.h b/gtsam/nonlinear/AdaptAutoDiff.h
index 96ea9b182..ff059ef78 100644
--- a/gtsam/nonlinear/AdaptAutoDiff.h
+++ b/gtsam/nonlinear/AdaptAutoDiff.h
@@ -65,8 +65,8 @@ class AdaptAutoDiff {
       // Convert from row-major to columnn-major
       // TODO: if this is a bottleneck (probably not!) fix Autodiff to be
       // Column-Major
-      *H1 = Eigen::Map<RowMajor1>(rowMajor1);
-      *H2 = Eigen::Map<RowMajor2>(rowMajor2);
+      if (H1) *H1 = Eigen::Map<RowMajor1>(rowMajor1);
+      if (H2) *H2 = Eigen::Map<RowMajor2>(rowMajor2);
 
     } else {
       // Apply the mapping, to get result
diff --git a/timing/timeAdaptAutoDiff.cpp b/timing/timeAdaptAutoDiff.cpp
index edfd420ef..3a9b5297a 100644
--- a/timing/timeAdaptAutoDiff.cpp
+++ b/timing/timeAdaptAutoDiff.cpp
@@ -57,16 +57,19 @@ int main() {
   f1 = boost::make_shared<GeneralSFMFactor<Camera, Point3> >(z, model, 1, 2);
   time("GeneralSFMFactor<Camera>                : ", f1, values);
 
-  // AdaptAutoDiff
-  typedef AdaptAutoDiff<SnavelyProjection, Point2, Camera, Point3> AdaptedSnavely;
-  Point2_ expression(AdaptedSnavely(), camera, point);
-  f2 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression);
-  time("Point2_(AdaptedSnavely(), camera, point): ", f2, values);
-
   // ExpressionFactor
   Point2_ expression2(camera, &Camera::project2, point);
   f3 = boost::make_shared<ExpressionFactor<Point2> >(model, z, expression2);
   time("Point2_(camera, &Camera::project, point): ", f3, values);
 
+  // AdaptAutoDiff
+  values.clear();
+  values.insert(1,Vector9(Vector9::Zero()));
+  values.insert(2,Vector3(0,0,1));
+  typedef AdaptAutoDiff<SnavelyProjection, 2, 9, 3> AdaptedSnavely;
+  Expression<Vector2> expression(AdaptedSnavely(), Expression<Vector9>(1), Expression<Vector3>(2));
+  f2 = boost::make_shared<ExpressionFactor<Vector2> >(model, z.vector(), expression);
+  time("Point2_(AdaptedSnavely(), camera, point): ", f2, values);
+
   return 0;
 }