def METHOD_NAME(self):
    """Test reprojectionErrors."""
    pixels = np.asarray([[20, 30], [20, 30]])
    I = [1, 2]
    K = gtsam.Cal3_S2()
    graph = gtsam.NonlinearFactorGraph()
    gtsam.utilities.insertProjectionFactors(
        graph, 0, I, pixels, gtsam.noiseModel.Isotropic.Sigma(2, 0.1), K)
    values = gtsam.Values()
    values.insert(0, gtsam.Pose3())
    cam = gtsam.PinholeCameraCal3_S2(gtsam.Pose3(), K)
    gtsam.utilities.insertBackprojections(values, cam, I, pixels, 10)
    errors = gtsam.utilities.reprojectionErrors(graph, values)
    np.testing.assert_allclose(errors, np.zeros((2, 2)))