Make canned loss functions more robust.
The loss functions that ship with ceres can sometimes
generate a zero first derivative if the residual is too
large.
In such cases Corrector fails with an ugly undebuggable
crash. This CL is the first in a series of fixes to
take care of this.
We clamp the values of rho' from below by
numeric_limits<double>::min().
Also included here is some minor cleanup where the constants
are treated as doubles rather than integers.
Thanks to Pierre Moulon for reporting this problem.
Change-Id: I3aaf375303ecc2659bbf6fb56a812e7dc3a41106
1 file changed
