From b4ee5e11052e2cb8358e4e9196796230dc333871 Mon Sep 17 00:00:00 2001
From: nsrinivasan7 <natesh.rvce@gmail.com>
Date: Sat, 29 Nov 2014 15:42:21 -0500
Subject: [PATCH] between factor in Cal3_S2

---
 gtsam/geometry/Cal3_S2.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index e28b24eae..67395764d 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -167,8 +167,8 @@ public:
 
   /// "Between", subtracts calibrations. between(p,q) == compose(inverse(p),q)
   inline Cal3_S2 between(const Cal3_S2& q,
-      boost::optional<Matrix&> H1=boost::none,
-      boost::optional<Matrix&> H2=boost::none) const {
+      OptionalJacobian<5,5> H1=boost::none,
+      OptionalJacobian<5,5> H2=boost::none) const {
     if(H1) *H1 = -eye(5);
     if(H2) *H2 = eye(5);
     return Cal3_S2(q.fx_-fx_, q.fy_-fy_, q.s_-s_, q.u0_-u0_, q.v0_-v0_);