Feature/tri loss#473
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- Added optional loss function
- Switched converge config to use ConfigConverge
- Optimizer is now configurable
- Added a more generalized isBehindCamera(p4, worldToCamera)
- Error prone clean up
- API improvements - More distinct internal vs external API - Keeps track of frame ID and added to track metadata
- Added ability to specify custom convergence criteria from high level API - Removed hard coded max iterations
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- Added helper functions for counting tracks with X feature
- You can process sequential blocks of tracks separately - Swap pyramids
- More informative error message
- Fixed bugs - Added out of bounds filtering
- Fixed theads
- Minor tweaks
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