Add back loss function to target mapping
Accidentally removed it when switching from 2d to 3d mapping.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Idf75be0bd5361844671c6c01ea2c13b95364195c
diff --git a/frc971/vision/target_mapper.cc b/frc971/vision/target_mapper.cc
index ddd86e8..b3049e4 100644
--- a/frc971/vision/target_mapper.cc
+++ b/frc971/vision/target_mapper.cc
@@ -237,7 +237,7 @@
return;
}
- ceres::LossFunction *loss_function = NULL;
+ ceres::LossFunction *loss_function = new ceres::HuberLoss(2.0);
ceres::LocalParameterization *quaternion_local_parameterization =
new ceres::EigenQuaternionParameterization;