Remove divided by three in the robust kernel (#437)

* Remove div 3 * Make it consistent for the C++ library
PRBonn · Jan 29, 2025 · c9f6931 · c9f6931
1 parent 77dd5e5
commit c9f6931
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/cpp/kiss_icp/pipeline/KissICP.cpp b/cpp/kiss_icp/pipeline/KissICP.cpp
@@ -51,7 +51,7 @@ KissICP::Vector3dVectorTuple KissICP::RegisterFrame(const std::vector<Eigen::Vec
                                                          local_map_,     // voxel_map
                                                          initial_guess,  // initial_guess
                                                          3.0 * sigma,    // max_correspondence_dist
-                                                         sigma / 3.0);   // kernel
+                                                         sigma);         // kernel
 
     // Compute the difference between the prediction and the actual estimate
     const auto model_deviation = initial_guess.inverse() * new_pose;

diff --git a/python/kiss_icp/kiss_icp.py b/python/kiss_icp/kiss_icp.py
@@ -59,7 +59,7 @@ def register_frame(self, frame, timestamps):
             voxel_map=self.local_map,
             initial_guess=initial_guess,
             max_correspondance_distance=3 * sigma,
-            kernel=sigma / 3,
+            kernel=sigma,
         )
 
         # Compute the difference between the prediction and the actual estimate