Lidar Odometry: Computation of a bisquare weight of feature points

[claydergc]

Hello,

According to J. Zhang's thesis, he states that: "The feature points that have larger distances to their correspondences are assigned with smaller weights". To do this, he uses a equation. In which part of the code is this located?. I suppose it has to do with the variable matB in BasicLaserOdometry.cpp

Thanks.