tree 246e794cd541c0c03422c70f98be44b3fea41593
parent b27a2044b3292cfd1ba069bbf91a8086ca2a9e52
author Sameer Agarwal <sameeragarwal@google.com> 1406740455 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1406740455 -0700

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