Re-implemented kernel_optim, mixing both optimizations
Re-implemented kernel_optim, mixing both optimizations

SimonRit/RTK,fabienmomey/RTK,fabienmomey/RTK,fabienmomey/RTK,fabienmomey/RTK,fabienmomey/RTK,fabienmomey/RTK,SimonRit/RTK,SimonRit/RTK,fabienmomey/RTK,SimonRit/RTK