optionaljacobian initialization with eigen mat
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				|  | @ -8,7 +8,8 @@ Line3 Line3::retract(const Vector4 &v, OptionalJacobian<4, 4> H) const { | |||
|     w << v[0], v[1], 0; | ||||
|     Rot3 eps; | ||||
|     if (H) { | ||||
|         OptionalJacobian<3, 3> Dw; | ||||
|         Eigen::Matrix3d Dw_mat = Eigen::Matrix3d::Zero(); | ||||
|         OptionalJacobian<3, 3> Dw(Dw_mat); | ||||
|         Dw->setZero(); | ||||
|         eps = Rot3::Expmap(w, Dw); | ||||
|         H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0); | ||||
|  | @ -25,7 +26,8 @@ Vector4 Line3::localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H) const | |||
|     Vector3 local_rot; | ||||
|     Vector4 local; | ||||
|     if (H) { | ||||
|         OptionalJacobian<3, 3> Dw; | ||||
|         Eigen::Matrix3d Dw_mat = Eigen::Matrix3d::Zero(); | ||||
|         OptionalJacobian<3, 3> Dw(Dw_mat); | ||||
|         Dw->setZero(); | ||||
|         local_rot = Rot3::Logmap(R_.inverse() * q.R_, Dw); | ||||
|         H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0); | ||||
|  |  | |||
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