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Project without having to provide Boost none for derivatives.

release/4.3a0
Vadim Indelman 2012-05-02 22:37:27 +00:00
parent cb017fee80
commit f8535c0bef
1 changed files with 1 additions and 1 deletions
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gtsam/slam/ProjectionFactor.h
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@ -87,7 +87,7 @@ namespace gtsam {
/// Evaluate error h(x)-z and optionally derivatives /// Evaluate error h(x)-z and optionally derivatives
Vector evaluateError(const Pose3& pose, const Point3& point, Vector evaluateError(const Pose3& pose, const Point3& point,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const { boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
try { try {
SimpleCamera camera(*K_, pose); SimpleCamera camera(*K_, pose);
Point2 reprojectionError(camera.project(point, H1, H2) - measured_); Point2 reprojectionError(camera.project(point, H1, H2) - measured_);