Method ReprojectionError

tinynav/cpp/bundle_adjustment.cpp:28–29

class ReprojectionError {
public:
    ReprojectionError(Eigen::Vector2d observed_keypoint, Eigen::Matrix3d K)
        : observed_keypoint_(observed_keypoint), K_(K) {}
    template<typename T>
    bool operator()(const T* camera_parameters, const T* point_parameters, T* residuals) const {
        using Vector3T = Eigen::Matrix<T, 3, 1>;