feat: added analytical derivatives correctness test
feat: added analytical derivatives correctness test

mapillary/OpenSfM,oscarlorentzon/OpenSfM,oscarlorentzon/OpenSfM,oscarlorentzon/OpenSfM,oscarlorentzon/OpenSfM,mapillary/OpenSfM,mapillary/OpenSfM,mapillary/OpenSfM,oscarlorentzon/OpenSfM,mapillary/OpenSfM