add useLOST to triangulateSafe

[dllu]

adds a way to use the new LOST triangulation in triangulateSafe by setting the useLOST parameter in TriangulationParameters accordingly.

By the way, what version of clang-format do people use? for some reason when I ran clang-format -i gtsam/geometry/triangulation.h it resulted in many changed lines (using clang-format version 10.0.0-4ubuntu1).

[zubingtan]

If I understand correctly and as discussed in #1503, we should only format the section you modify. If you are using VScode, you can select the section and click the right menu button and use Format Section. cc @dellaert

[akshay-krishnan]

Thanks @dllu , it would be great if you could also add a unit test for triangulateSafe with useLOST=True here:

gtsam/gtsam/geometry/tests/testTriangulation.cpp

Line 515 in 7a3b955

TEST(triangulation, outliersAndFarLandmarks) {

[varunagrawal]

@dllu gentle reminder

[dellaert]

I'm just going to approve and merge.