jacoboi error ?

[chennuo0125-HIT]

https://github.com/izhengfan/ba_demo_ceres/blob/c89b27f6c99b207ae3bf99e8fd992290a253da7a/parametersse3.cpp#L28 above line should be:

J_se3.block<2,3>(0,0) = - J_cam * quaterd.toRotationMatrix() * skew(point); 

or

J_se3.block<2,3>(0,0) = - J_cam * skew(quaterd * point);