71 typedef Eigen::Matrix<double, 2, 1> Vec2;  typedef
136                                   const Vec2 &x1,  in SymmetricGeometricDistance()
137                                   const Vec2 &x2) {  in SymmetricGeometricDistance()
138   Vec2 forward_error, backward_error;  in SymmetricGeometricDistance()
247   HomographySymmetricGeometricCostFunctor(const Vec2 &x,  in HomographySymmetricGeometricCostFunctor()
248                                           const Vec2 &y)  in HomographySymmetricGeometricCostFunctor()
254     typedef Eigen::Matrix<T, 2, 1> Vec2;  in operator ()()  typedef
257     Vec2 x(T(x_(0)), T(x_(1)));  in operator ()()
258     Vec2 y(T(y_(0)), T(y_(1)));  in operator ()()
268   const Vec2 x_;
269   const Vec2 y_;