From d924c11d413f6f18f9215d1bab2fe4a6e1893d7a Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 10 Mar 2015 22:10:08 -0700
Subject: [PATCH] Call dispatched SchurComplement, now in CameraSet

---
 gtsam/slam/SmartProjectionFactor.h | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index 535dab7f6..138a29f0a 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -208,11 +208,10 @@ public:
     Matrix E;
     Vector b;
     computeJacobiansWithTriangulatedPoint(Fblocks, E, b, cameras);
-    Matrix P = Base::PointCov(E, lambda, diagonalDamping);
 
     // build augmented hessian
-    SymmetricBlockMatrix augmentedHessian = CameraSet<CAMERA>::SchurComplement(
-        Fblocks, E, P, b);
+    SymmetricBlockMatrix augmentedHessian = //
+        Cameras::SchurComplement(Fblocks, E, b, lambda, diagonalDamping);
 
     return boost::make_shared<RegularHessianFactor<Base::Dim> >(this->keys_,
         augmentedHessian);