(src_points, tgt_points, depth, pose, intrinsics)
return 0
Compute re-projection error given match points
    
    Arguments:
        src_points {[type]} -- homogeneous coordinates [batch_size, match_num, 3]
        tgt_points {[type]} -- homogeneous coordinates [batch_size, match_num, 3]
        depth {depth mat} -- [batch_size, height, width]
        pose {pose vector} -- [batch_size, 6]
        intrinsics {[type]} -- [batch_size, 3, 3]
    
    Returns:
        reprojection error given sparse matches
Compute re-projection error given match points
    
    Arguments:
        src_points {[type]} -- homogeneous coordinates [batch_size, match_num, 3]
        tgt_points {[type]} -- homogeneous coordinates [batch_size, match_num, 3]
        depth {depth mat} -- [batch_size, height, width]
        pose {pose vector} -- [batch_size, 6]
        intrinsics {[type]} -- [batch_size, 3, 3]
    
    Returns:
        reprojection error given sparse matches
Compute re - projection error given match points Arguments : src_points { [ type ] } -- homogeneous coordinates [ batch_size match_num 3 ] tgt_points { [ type ] } -- homogeneous coordinates [ batch_size match_num 3 ] depth { depth mat } -- [ batch_size height width ] pose { pose vector } -- [ batch_size 6 ] intrinsics { [ type ] } -- [ batch_size 3 3 ] Returns : reprojection error given sparse matches
def reprojection_error(src_points, tgt_points, depth, pose, intrinsics):
    """Compute re-projection error given match points
    
    Arguments:
        src_points {[type]} -- homogeneous coordinates [batch_size, match_num, 3]
        tgt_points {[type]} -- homogeneous coordinates [batch_size, match_num, 3]
        depth {depth mat} -- [batch_size, height, width]
        pose {pose vector} -- [batch_size, 6]
        intrinsics {[type]} -- [batch_size, 3, 3]
    
    Returns:
        reprojection error given sparse matches
    """

    pose = pose_vec2mat(pose)
    #cam_coords = pixel2cam(depth, intrinsics)

    exit(-1)
    return 0
def reprojection_error ( src_points , tgt_points , depth , pose , intrinsics ) : pose = pose_vec2mat ( pose ) #cam_coords = pixel2cam(depth, intrinsics) exit ( - 1 ) return 0