Function mp2p_icp::error_point2line

Defined in File errorTerms.h

Function Documentation

mrpt::math::CVectorFixedDouble<3> mp2p_icp::error_point2line(const mp2p_icp::point_line_pair_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref<mrpt::math::CMatrixFixed<double, 3, 12>> jacobian = std::nullopt)