From 0fee8f37a6d22b7271d4e5f1198dd87a51e9144c Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Mon, 23 Feb 2015 12:37:06 +0100
Subject: [PATCH] Added derivatives to Errors

---
 gtsam/geometry/CameraSet.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index d0c2d04d0..eb58d1658 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -140,9 +140,10 @@ public:
   }
 
   /// Calculate vector of re-projection errors
-  Vector reprojectionErrors(const Point3& point,
-      const std::vector<Z>& measured) const {
-    return ErrorVector(project2(point), measured);
+  Vector reprojectionErrors(const Point3& point, const std::vector<Z>& measured,
+      boost::optional<FBlocks&> F = boost::none, //
+      boost::optional<Matrix&> E = boost::none) const {
+    return ErrorVector(project2(point,F,E), measured);
   }
 
   /// Calculate vector of re-projection errors, from point at infinity