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Improve residuals weighting

Nicolas Cadart requested to merge ResidualsWeighting into master
  • Fix duplicated weighing of each residual
  • Use TukeyLoss instead of ArctanLoss for ICP residuals robustifier (more aggressive to outliers)
  • Replace messy LossScale parameter by intuitive SaturationDistance
  • Add ICP match quality weight in debug arrays

@julia.sanchez @nick.laurenson @lea.vauchier PTAL

Edited by Nicolas Cadart

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