ba_demo_ceres

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https://github.com/izhengfan/ba_demo_ceres/blob/c89b27f6c99b207ae3bf99e8fd992290a253da7a/parametersse3.cpp#L28 above line should be: ``` J_se3.block(0,0) = - J_cam * quaterd.toRotationMatrix() * skew(point); ``` or ``` J_se3.block(0,0) = - J_cam * skew(quaterd * point); ```

chennuo0125-HIT

fix for lie jacobian

2

Fixed the jacobian for the lie parameterization. Is not the identity for the rotation block it is the rotation itself.

geoeo