From c9f6931e5408389033ae899e55c91edfdb469378 Mon Sep 17 00:00:00 2001
From: Tiziano Guadagnino <37455909+tizianoGuadagnino@users.noreply.github.com>
Date: Wed, 29 Jan 2025 16:46:34 +0100
Subject: [PATCH] Remove divided by three in the robust kernel (#437)

* Remove div 3

* Make it consistent for the C++ library
---
 cpp/kiss_icp/pipeline/KissICP.cpp | 2 +-
 python/kiss_icp/kiss_icp.py       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cpp/kiss_icp/pipeline/KissICP.cpp b/cpp/kiss_icp/pipeline/KissICP.cpp
index 6886a5d6..eba57c76 100644
--- 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
index f53349c8..2e5ce3b2 100644
--- 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