Method PlaneSolver

include/desc/STDesc.h:362–369

struct PlaneSolver {
    PlaneSolver(Eigen::Vector3d curr_point_,
                Eigen::Vector3d curr_normal_,
                Eigen::Vector3d target_point_,
                Eigen::Vector3d target_normal_)
        : curr_point(curr_point_),
          curr_normal(curr_normal_),
          target_point(target_point_),
          target_normal(target_normal_){};
    template <typename T>
    bool operator()(const T *q, const T *t, T *residual) const {
        Eigen::Quaternion<T> q_w_curr{q[3], q[0], q[1], q[2]};