The code to calculate d2J_dZdX in PointToPlanewithCov.cpp
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YibinWu commented
T tmp_scalar_read = normal(0) * reading_direction(0) + normal(1) * reading_direction(1) + normal(2) * reading_direction(2); tmp_scalar_read = 1; tmp_scalar_read *= weight;
Hi. Could you please explain how to understand this part in the code (in "PointToPlanewithCov.cpp")? I feel confused about why to make "tmp_scalar_read = weight". Thank you.