From a6b4823203c8dffd30aaf7163a5ea923ba811bfe Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 27 Nov 2014 22:50:37 +0100
Subject: [PATCH] This seems to work perfectly (compiles, at least)

---
 gtsam/geometry/Cal3_S2.h       |  6 ++++++
 gtsam/geometry/PinholeCamera.h | 10 ++--------
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 693e1dca8..b8f10fccb 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -23,6 +23,7 @@
 
 #include <gtsam/base/DerivedValue.h>
 #include <gtsam/geometry/Point2.h>
+#include <boost/optional.hpp>
 
 namespace gtsam {
 
@@ -57,6 +58,11 @@ public:
       empty_(true), map_(NULL) {
   }
 
+  /// Defdault constructo acts like boost::none
+  FixedRef(boost::none_t none) :
+      empty_(true), map_(NULL) {
+  }
+
   /// Constructor that will usurp data of a fixed size matrix
   FixedRef(Fixed& fixed) :
       empty_(false), map_(NULL) {
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 3ef6b8c11..ad0c8d659 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -381,13 +381,7 @@ public:
       }
       return pi;
     } else
-      if (Dcal) {
-        JacobianK fixedDcal;
-        const Point2 pi = K_.uncalibrate(pn, fixedDcal);
-        *Dcal = fixedDcal;
-        return pi;
-      } else
-        return K_.uncalibrate(pn);
+      return K_.uncalibrate(pn, Dcal);
   }
 
   /** project a point at infinity from world coordinate to the image
@@ -400,7 +394,7 @@ public:
       const Point3& pw, //
       boost::optional<Matrix&> Dpose = boost::none,
       boost::optional<Matrix&> Dpoint = boost::none,
-      boost::optional<Matrix25&> Dcal = boost::none) const {
+      boost::optional<Matrix&> Dcal = boost::none) const {
 
     if (!Dpose && !Dpoint && !Dcal) {
       const Point3 pc = pose_.rotation().unrotate(pw); // get direction in camera frame (translation does not matter)