step_detect: remove ad-hoc restriction interval size>=2 #745
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When variance is zero, use scale 1.0 for gamma. The actual solution is always single interval, but this is the minimal correction required in order to not look for solutions in silly places.
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Penalise 'just-so' overfitted sigma=0 models in the bayesian information criterion, by fixing a noise floor in the prior. Previously, these cases were usually not encountered because of min_size=2, but with min_size=1 all datasets have an overfitted model which should not be always accepted.
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Allow length-1 intervals in step detection.
The Bayes criterion is supposed to select the interval cost correctly,
so this sort of ad-hoc restrictions are not necessary.
Also fix an unrelated performance issue with zero-variance inputs.