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32 // are converted to cost terms for the overall problem cost function.
34 // overall cost for a problem, see problem.h.
64 // Using a robust loss function, the cost for large residuals is
68 // What cost function is best?
71 // function. The authors suggest starting with a non-robust cost, then
99 // cost function is given by 1/2 rho(s), where
113 // so that they mimic the least squares cost for small residuals.
240 // Loss function that maps to approximately zero cost in a range around the
241 // origin, and reverts to linear in error (quadratic in cost) beyond this range.