calibrateHandEye，AX=BX, interior point way
THIS SCRIPT IS USING IN CALI THE GNSS/LIDAR INSTATION PARAMENTERS.
AUTHER: shane
DATE:2022.12.20
DEPENDENCES:
CVXPY(CONVEX SOLVER)-CVX-A64
RUN WAY:
1. Running slerp.mlx: Getting the relative pose of gnss and lidarodometry, slerp the gnss pose as well.
2. Running Data_prepocess.mlx: Processing the data for correcting the error. Getting the A and B of AX=BX.
3. There are two way of sloving AX=BX:
a. Using interior point way: Running interior_point_cali.mlx
b. Using IRM to sloving the QCQP(transforming the AX=XB to QCQP model): Running qcqp_cali.m