Template Function ceres_error_terms::EvaluateNumericalJacobianOfParameterization

Function Documentation

template<typename LocalParameterization, int kDimGlobal, int kDimLocal, int EigenJacobianOptions>
bool ceres_error_terms::EvaluateNumericalJacobianOfParameterization(const LocalParameterization &parameterization, const Eigen::Matrix<double, kDimGlobal, 1> &linearization_point_global, Eigen::Matrix<double, kDimGlobal, kDimLocal, EigenJacobianOptions> *dLocal_dGlobal)