a problem about projectionTwoFrameOneCamFactor.cpp

[KnineF]

since **residual = sel * sqrt_info * reprojection_error，

so when calculating the jacobians about td, (jacobian_td) assuming (reduce) has not multiplied by (sqrt_info) yet it should be **jacobian_td = sel * sqrt_info * ( reduce * ric.transpose() * Rj.transpose() * Ri * ric * velocity_i / inv_dep_i * -1.0 + velocity_j.head(2) )

(velocity_j.head(2)) should multiply by (sel * sqrt_info) **sel * sqrt_info * velocity_j.head(2)

but in the code **jacobian_td = sel * reduce * ric.transpose() * Rj.transpose() * Ri * ric * velocity_i / inv_dep_i * -1.0 + sqrt_info * velocity_j.head(2)

(sqrt_info * velocity_j.head(2)) has not multiplied by (sel) yet, why?? do I misunderstand anything?