tree ed1ecafa299dd0e148e1ad6e6ef950a55238bac6
parent 58792dc8ee0e4b56331f33f753f1b1932c5c2960
author Sameer Agarwal <sameeragarwal@google.com> 1383926684 -0800
committer Sameer Agarwal <sameeragarwal@google.com> 1383977894 -0800

Speed up the application of robust loss functions.

Since we added special handling for the case for rho[2] < 0,
the bulk of CorrectJacobian is pointless in the common case.
So add a simple one dimensional loop which rescales the Jacobian.
This speeds up this method immensely.

The robustification of a Jacobian gets speeded up by > 50%.

Change-Id: I97c4e897ccbb5521c053e1fb931c5d0d32f542c7