From b5d9ed45291368b37d678d4e6883755d5803b354 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 19 Feb 2015 18:05:50 +0100
Subject: [PATCH] Make derivative zero, throw exception.

---
 gtsam/geometry/StereoCamera.cpp | 5 ++---
 gtsam/geometry/StereoCamera.h   | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/gtsam/geometry/StereoCamera.cpp b/gtsam/geometry/StereoCamera.cpp
index 9170f8282..eb83fd10f 100644
--- a/gtsam/geometry/StereoCamera.cpp
+++ b/gtsam/geometry/StereoCamera.cpp
@@ -31,7 +31,7 @@ namespace gtsam {
   /* ************************************************************************* */
   StereoPoint2 StereoCamera::project(const Point3& point,
       OptionalJacobian<3,6> H1, OptionalJacobian<3,3> H2,
-      OptionalJacobian<3,6> H3) const {
+      OptionalJacobian<3,0> H3) const {
 
 #ifdef STEREOCAMERA_CHAIN_RULE
     const Point3 q = leftCamPose_.transform_to(point, H1, H2);
@@ -78,8 +78,7 @@ namespace gtsam {
       }
 #endif
       if (H3)
-        // TODO, this is set to zero, as Cal3_S2Stereo cannot be optimized yet
-        H3->setZero();
+        throw std::runtime_error("StereoCamera::project does not support third derivative yet");
     }
 
     // finally translate
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index 8d16de4dd..006095420 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -125,7 +125,7 @@ public:
   StereoPoint2 project(const Point3& point,
       OptionalJacobian<3, 6> H1 = boost::none,
       OptionalJacobian<3, 3> H2 = boost::none,
-      OptionalJacobian<3, 6> H3 = boost::none) const;
+      OptionalJacobian<3, 0> H3 = boost::none) const;
 
   /**
    *