mistake in project?

inline void Project(const Rigid3D &T12, const Point2D &x1, LA::Vector2f &x2,
LA::Vector2f &Jx2) const {
const xp128f t = xp128f::get(x1.x(), x1.y(), 1.0f, u());
const float d12 = 1.0f / (T12.r20_r21_r22_tz() * t).vsum_all();
x2.x() = (T12.r00_r01_r02_tx() * t).vsum_all() * d12;
x2.y() = (T12.r10_r11_r12_ty() * t).vsum_all() * d12;
Jx2.x() = (T12.tx() - x2.x() * T12.tz()) * d12;
Jx2.y() = (T12.ty() - x2.y() * T12.tz()) * d12;
}

i think the jacobian should be

Jx2.x() = (T12.tx() - d12 * x2.x() * T12.tz()) * d12;
Jx2.y() = (T12.ty() - d12 * x2.y() * T12.tz()) * d12;

Locate the inline Project method using its Rigid3D, Point2D, and LA::Vector2f signature. Start by checking how x2, d12, and Jx2 are used, then verify the reported Jacobian expressions against the projection calculation. Done means the derivative is confirmed or corrected and covered by an appropriate regression check.

Written by the indexing model from the issue text.