Function mp2p_icp::create_robust_kernel

• Defined in File robust_kernels.h

Function Documentation

inline robust_sqrt_weight_func_t mp2p_icp::create_robust_kernel(const RobustKernel kernel, const double kernelParam)

Creates a functor with the sqrt of the weight function of a given kernel, or an empty functor if non-robust kernel is selected.

Implemented as inline to try to make the compiler to optimize.

Parameters:

• kernel – Selected kernel type.

• kernelParam – Parameter of the kernel.

Returns:

A functor.