The code to calculate d2J_dZdX in PointToPlanewithCov.cpp

[YibinWu]

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.