b38b1cefa0
This PR adds the possibility to use the TolerantLoss function for INS in pose graph optimization. This is currently switched off, and so there's not functional change. The ceres TolerantLoss function (see [description](http://ceres-solver.org/nnls_modeling.html), and [implementation](https://github.com/ceres-solver/ceres-solver/blob/master/internal/ceres/loss_function.cc)) has the following property - for large values of x it approaches a quadratic loss ("null loss") with the specified weight (fixed_frame_pose_translation_weight) - for small values of x it approaches a quadratic loss with a smaller weight - there's a crossover at some value x_c. The function is convex everywhere. |
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| .. | ||
| map_builder.lua | ||
| map_builder_server.lua | ||
| pose_graph.lua | ||
| trajectory_builder.lua | ||
| trajectory_builder_2d.lua | ||
| trajectory_builder_3d.lua | ||