diff --git a/gtsam_unstable/geometry/SimWall2D.cpp b/gtsam_unstable/geometry/SimWall2D.cpp
index 3fb96ad0b..cd52b9696 100644
--- a/gtsam_unstable/geometry/SimWall2D.cpp
+++ b/gtsam_unstable/geometry/SimWall2D.cpp
@@ -25,7 +25,7 @@ bool SimWall2D::equals(const SimWall2D& other, double tol) const {
 }
 
 /* ************************************************************************* */
-bool SimWall2D::intersects(const SimWall2D& B, boost::optional<Point2&> pt) const {
+bool SimWall2D::intersects(const SimWall2D& B, Point2* pt) const {
   const bool debug = false;
 
   const SimWall2D& A = *this;
diff --git a/gtsam_unstable/geometry/SimWall2D.h b/gtsam_unstable/geometry/SimWall2D.h
index fd5afbc54..4274300df 100644
--- a/gtsam_unstable/geometry/SimWall2D.h
+++ b/gtsam_unstable/geometry/SimWall2D.h
@@ -51,7 +51,15 @@ namespace gtsam {
      * returns true if they intersect, with the intersection
      * point in the optional second argument
      */
-    bool intersects(const SimWall2D& wall, boost::optional<Point2&> pt=boost::none) const;
+    bool intersects(const SimWall2D& wall, Point2* pt = nullptr) const;
+    
+    /**
+     * An overload of intersects that takes an l-value reference to a Point2
+     * instead of a pointer.
+     */
+    bool intersects(const SimWall2D& wall, Point2& pt) const {
+      return intersects(wall, &pt);
+    }
 
     /**
      * norm is a 2D point representing the norm of the wall