Function mp2p_icp::error_line2line

Function Documentation

mrpt::math::CVectorFixedDouble<4> mp2p_icp::error_line2line(const mp2p_icp::matched_line_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref<mrpt::math::CMatrixFixed<double, 4, 12>> jacobian = std::nullopt)