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Commit a9446199 authored by Emmanuel Bertin's avatar Emmanuel Bertin
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Fixed model-fitting issue with empty images in dual-image mode (thanks to V.... 

Fixed model-fitting issue with empty images in dual-image mode (thanks to V. de Lapparent for reporting).
Updated LevMar to version 2.5.
Updated URLs in various places.
Pushed version number to 2.12.1.
parent 78801391
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README
View file @ a9446199
......@@ -9,9 +9,10 @@ input image is a MEF.
configuration files like default.param are still needed, though.
The SExtractor homepage is
http://terapix.iap.fr/soft/sextractor
http://astromatic.net/software/sextractor
In case of problems, questions or suggestions related to the software, please
refer to the TERAPIX forum:
http://terapix.iap.fr/forum/
refer to the SExtractor forum:
http://astromatic.net/forum/forumdisplay.php?fid=4
Emmanuel Bertin.
configure
View file @ a9446199
#! /bin/sh
# Guess values for system-dependent variables and create Makefiles.
# Generated by GNU Autoconf 2.63 for sextractor 2.12.0.
# Generated by GNU Autoconf 2.63 for sextractor 2.12.1.
#
# Report bugs to <bertin@iap.fr>.
#
......@@ -750,8 +750,8 @@ SHELL=${CONFIG_SHELL-/bin/sh}
# Identity of this package.
PACKAGE_NAME='sextractor'
PACKAGE_TARNAME='sextractor'
PACKAGE_VERSION='2.12.0'
PACKAGE_STRING='sextractor 2.12.0'
PACKAGE_VERSION='2.12.1'
PACKAGE_STRING='sextractor 2.12.1'
PACKAGE_BUGREPORT='bertin@iap.fr'
 
ac_unique_file="src/makeit.c"
......@@ -1508,7 +1508,7 @@ if test "$ac_init_help" = "long"; then
# Omit some internal or obsolete options to make the list less imposing.
# This message is too long to be a string in the A/UX 3.1 sh.
cat <<_ACEOF
\`configure' configures sextractor 2.12.0 to adapt to many kinds of systems.
\`configure' configures sextractor 2.12.1 to adapt to many kinds of systems.
 
Usage: $0 [OPTION]... [VAR=VALUE]...
 
......@@ -1578,7 +1578,7 @@ fi
 
if test -n "$ac_init_help"; then
case $ac_init_help in
short | recursive ) echo "Configuration of sextractor 2.12.0:";;
short | recursive ) echo "Configuration of sextractor 2.12.1:";;
esac
cat <<\_ACEOF
 
......@@ -1711,7 +1711,7 @@ fi
test -n "$ac_init_help" && exit $ac_status
if $ac_init_version; then
cat <<\_ACEOF
sextractor configure 2.12.0
sextractor configure 2.12.1
generated by GNU Autoconf 2.63
 
Copyright (C) 1992, 1993, 1994, 1995, 1996, 1998, 1999, 2000, 2001,
......@@ -1725,7 +1725,7 @@ cat >config.log <<_ACEOF
This file contains any messages produced by compilers while
running configure, to aid debugging if configure makes a mistake.
 
It was created by sextractor $as_me 2.12.0, which was
It was created by sextractor $as_me 2.12.1, which was
generated by GNU Autoconf 2.63. Invocation command line was
 
$ $0 $@
......@@ -2428,7 +2428,7 @@ fi
 
# Define the identity of the package.
PACKAGE='sextractor'
VERSION='2.12.0'
VERSION='2.12.1'
 
 
cat >>confdefs.h <<_ACEOF
......@@ -28593,7 +28593,7 @@ exec 6>&1
# report actual input values of CONFIG_FILES etc. instead of their
# values after options handling.
ac_log="
This file was extended by sextractor $as_me 2.12.0, which was
This file was extended by sextractor $as_me 2.12.1, which was
generated by GNU Autoconf 2.63. Invocation command line was
 
CONFIG_FILES = $CONFIG_FILES
......@@ -28656,7 +28656,7 @@ Report bugs to <bug-autoconf@gnu.org>."
_ACEOF
cat >>$CONFIG_STATUS <<_ACEOF || ac_write_fail=1
ac_cs_version="\\
sextractor config.status 2.12.0
sextractor config.status 2.12.1
configured by $0, generated by GNU Autoconf 2.63,
with options \\"`$as_echo "$ac_configure_args" | sed 's/^ //; s/[\\""\`\$]/\\\\&/g'`\\"
 
......
configure.ac
View file @ a9446199
......@@ -6,7 +6,7 @@ define([AC_CACHE_LOAD],)
define([AC_CACHE_SAVE],)
# This is your standard Bertin source code...
AC_INIT(sextractor, 2.12.0, [bertin@iap.fr])
AC_INIT(sextractor, 2.12.1, [bertin@iap.fr])
AC_CONFIG_SRCDIR(src/makeit.c)
AC_CONFIG_AUX_DIR(autoconf)
AM_CONFIG_HEADER(config.h)
......
man/sex.1
View file @ a9446199
.TH SEXTRACTOR "1" "August 2010" "SWarp 2.12.0" "User Commands"
.TH SEXTRACTOR "1" "August 2010" "SWarp 2.12.1" "User Commands"
.SH NAME
sex \- extract a source catalog from an astronomical FITS image
.SH SYNOPSIS
......@@ -18,7 +18,7 @@ SExtractor is a program that builds a catalogue of objects from an astronomical
image. Although it is particularly oriented towards reduction of large scale
galaxy-survey data, it performs rather well on moderately crowded star fields.
.RE
See http://terapix.iap.fr/soft/sextractor for more details.
See http://astromatic.net/software/sextractor for more details.
.SS "Operation modes:"
.TP
\fB\-h\fR, \fB\-\-help\fR
......@@ -43,5 +43,5 @@ Report bugs to <sextractor@iap.fr>.
.PP
The full documentation for
.B SExtractor
is maintained as a Postscript manual available at
.B http://terapix.iap.fr/soft/sextractor
is maintained as a PDF manual available at
.B http://astromatic.net/software/sextractor
man/sex.1.in
View file @ a9446199
......@@ -18,7 +18,7 @@ SExtractor is a program that builds a catalogue of objects from an astronomical
image. Although it is particularly oriented towards reduction of large scale
galaxy-survey data, it performs rather well on moderately crowded star fields.
.RE
See http://terapix.iap.fr/soft/sextractor for more details.
See http://astromatic.net/software/sextractor for more details.
.SS "Operation modes:"
.TP
\fB\-h\fR, \fB\-\-help\fR
......@@ -43,5 +43,5 @@ Report bugs to <sextractor@iap.fr>.
.PP
The full documentation for
.B SExtractor
is maintained as a Postscript manual available at
.B http://terapix.iap.fr/soft/sextractor
is maintained as a PDF manual available at
.B http://astromatic.net/software/sextractor
src/ldactoasc.h
View file @ a9446199
......@@ -30,7 +30,7 @@
#define MYVERSION VERSION
#endif
#define COPYRIGHT "Emmanuel BERTIN <bertin@iap.fr>"
#define WEBSITE "http://astromatic.iap.fr/software/sextractor/"
#define WEBSITE "http://astromatic.net/software/sextractor/"
#define INSTITUTE "IAP http://www.iap.fr"
/*----------------------------- Physical constants --------------------------*/
......
src/levmar/Axb.c
View file @ a9446199
......@@ -28,7 +28,7 @@
#include <stdlib.h>
#include <math.h>
#include "lm.h"
#include "levmar.h"
#include "misc.h"
#if !defined(LM_DBL_PREC) && !defined(LM_SNGL_PREC)
......
src/levmar/Axb_core.c
View file @ a9446199
......@@ -26,6 +26,7 @@
#error This file should not be compiled directly!
#endif
#ifdef LINSOLVERS_RETAIN_MEMORY
#define __STATIC__ static
#else
......@@ -36,7 +37,6 @@
/* prototypes of LAPACK routines */
#define GEQRF LM_MK_LAPACK_NAME(geqrf)
#define ORGQR LM_MK_LAPACK_NAME(orgqr)
#define TRTRS LM_MK_LAPACK_NAME(trtrs)
......@@ -47,6 +47,8 @@
#define GETRS LM_MK_LAPACK_NAME(getrs)
#define GESVD LM_MK_LAPACK_NAME(gesvd)
#define GESDD LM_MK_LAPACK_NAME(gesdd)
#define SYTRF LM_MK_LAPACK_NAME(sytrf)
#define SYTRS LM_MK_LAPACK_NAME(sytrs)
/* QR decomposition */
extern int GEQRF(int *m, int *n, LM_REAL *a, int *lda, LM_REAL *tau, LM_REAL *work, int *lwork, int *info);
......@@ -74,12 +76,17 @@ extern int GESVD(char *jobu, char *jobvt, int *m, int *n, LM_REAL *a, int *lda,
extern int GESDD(char *jobz, int *m, int *n, LM_REAL *a, int *lda, LM_REAL *s, LM_REAL *u, int *ldu, LM_REAL *vt, int *ldvt,
LM_REAL *work, int *lwork, int *iwork, int *info);
/* LDLt/UDUt factorization and systems solution */
extern int SYTRF(char *uplo, int *n, LM_REAL *a, int *lda, int *ipiv, LM_REAL *work, int *lwork, int *info);
extern int SYTRS(char *uplo, int *n, int *nrhs, LM_REAL *a, int *lda, int *ipiv, LM_REAL *b, int *ldb, int *info);
/* precision-specific definitions */
#define AX_EQ_B_QR LM_ADD_PREFIX(Ax_eq_b_QR)
#define AX_EQ_B_QRLS LM_ADD_PREFIX(Ax_eq_b_QRLS)
#define AX_EQ_B_CHOL LM_ADD_PREFIX(Ax_eq_b_Chol)
#define AX_EQ_B_LU LM_ADD_PREFIX(Ax_eq_b_LU)
#define AX_EQ_B_SVD LM_ADD_PREFIX(Ax_eq_b_SVD)
#define AX_EQ_B_BK LM_ADD_PREFIX(Ax_eq_b_BK)
/*
* This function returns the solution of Ax = b
......@@ -105,8 +112,8 @@ __STATIC__ int buf_sz=0;
static int nb=0; /* no __STATIC__ decl. here! */
LM_REAL *a, *qtb, *tau, *r, *work;
int a_sz, qtb_sz, tau_sz, r_sz, tot_sz;
LM_REAL *a, *tau, *r, *work;
int a_sz, tau_sz, r_sz, tot_sz;
register int i, j;
int info, worksz, nrhs=1;
register LM_REAL sum;
......@@ -115,8 +122,9 @@ register LM_REAL sum;
#ifdef LINSOLVERS_RETAIN_MEMORY
{
if(buf) free(buf);
buf_sz=0;
buf=NULL;
buf_sz=0;
return 1;
}
#else
......@@ -125,10 +133,8 @@ register LM_REAL sum;
/* calculate required memory size */
a_sz=m*m;
qtb_sz=m;
tau_sz=m;
r_sz=m*m; /* only the upper triangular part really needed */
if(!nb){
LM_REAL tmp;
......@@ -137,7 +143,7 @@ register LM_REAL sum;
nb=((int)tmp)/m; // optimal worksize is m*nb
}
worksz=nb*m;
tot_sz=a_sz + qtb_sz + tau_sz + r_sz + worksz;
tot_sz=a_sz + tau_sz + r_sz + worksz;
#ifdef LINSOLVERS_RETAIN_MEMORY
if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
......@@ -160,8 +166,7 @@ register LM_REAL sum;
#endif /* LINSOLVERS_RETAIN_MEMORY */
a=buf;
qtb=a+a_sz;
tau=qtb+qtb_sz;
tau=a+a_sz;
r=tau+tau_sz;
work=r+r_sz;
......@@ -209,15 +214,15 @@ register LM_REAL sum;
}
}
/* Q is now in a; compute Q^T b in qtb */
/* Q is now in a; compute Q^T b in x */
for(i=0; i<m; i++){
for(j=0, sum=0.0; j<m; j++)
sum+=a[i*m+j]*B[j];
qtb[i]=sum;
x[i]=sum;
}
/* solve the linear system R x = Q^t b */
TRTRS("U", "N", "N", (int *)&m, (int *)&nrhs, r, (int *)&m, qtb, (int *)&m, &info);
TRTRS("U", "N", "N", (int *)&m, (int *)&nrhs, r, (int *)&m, x, (int *)&m, &info);
/* error treatment */
if(info!=0){
if(info<0){
......@@ -234,10 +239,6 @@ register LM_REAL sum;
}
}
/* copy the result in x */
for(i=0; i<m; i++)
x[i]=qtb[i];
#ifndef LINSOLVERS_RETAIN_MEMORY
free(buf);
#endif
......@@ -271,18 +272,19 @@ __STATIC__ int buf_sz=0;
static int nb=0; /* no __STATIC__ decl. here! */
LM_REAL *a, *atb, *tau, *r, *work;
int a_sz, atb_sz, tau_sz, r_sz, tot_sz;
LM_REAL *a, *tau, *r, *work;
int a_sz, tau_sz, r_sz, tot_sz;
register int i, j;
int info, worksz, nrhs=1;
register LM_REAL sum;
if(!A)
#ifdef LINSOLVERS_RETAIN_MEMORY
{
if(buf) free(buf);
buf=NULL;
buf_sz=0;
return 1;
}
#else
......@@ -296,7 +298,6 @@ register LM_REAL sum;
/* calculate required memory size */
a_sz=m*n;
atb_sz=n;
tau_sz=n;
r_sz=n*n;
if(!nb){
......@@ -307,7 +308,7 @@ register LM_REAL sum;
nb=((int)tmp)/m; // optimal worksize is m*nb
}
worksz=nb*m;
tot_sz=a_sz + atb_sz + tau_sz + r_sz + worksz;
tot_sz=a_sz + tau_sz + r_sz + worksz;
#ifdef LINSOLVERS_RETAIN_MEMORY
if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
......@@ -330,8 +331,7 @@ register LM_REAL sum;
#endif /* LINSOLVERS_RETAIN_MEMORY */
a=buf;
atb=a+a_sz;
tau=atb+atb_sz;
tau=a+a_sz;
r=tau+tau_sz;
work=r+r_sz;
......@@ -340,11 +340,11 @@ register LM_REAL sum;
for(j=0; j<n; j++)
a[i+j*m]=A[i*n+j];
/* compute A^T b in atb */
/* compute A^T b in x */
for(i=0; i<n; i++){
for(j=0, sum=0.0; j<m; j++)
sum+=A[j*n+i]*B[j];
atb[i]=sum;
x[i]=sum;
}
/* QR decomposition of A */
......@@ -376,7 +376,7 @@ register LM_REAL sum;
}
/* solve the linear system R^T y = A^t b */
TRTRS("U", "T", "N", (int *)&n, (int *)&nrhs, r, (int *)&n, atb, (int *)&n, &info);
TRTRS("U", "T", "N", (int *)&n, (int *)&nrhs, r, (int *)&n, x, (int *)&n, &info);
/* error treatment */
if(info!=0){
if(info<0){
......@@ -394,7 +394,7 @@ register LM_REAL sum;
}
/* solve the linear system R x = y */
TRTRS("U", "N", "N", (int *)&n, (int *)&nrhs, r, (int *)&n, atb, (int *)&n, &info);
TRTRS("U", "N", "N", (int *)&n, (int *)&nrhs, r, (int *)&n, x, (int *)&n, &info);
/* error treatment */
if(info!=0){
if(info<0){
......@@ -411,10 +411,6 @@ register LM_REAL sum;
}
}
/* copy the result in x */
for(i=0; i<n; i++)
x[i]=atb[i];
#ifndef LINSOLVERS_RETAIN_MEMORY
free(buf);
#endif
......@@ -445,17 +441,18 @@ int AX_EQ_B_CHOL(LM_REAL *A, LM_REAL *B, LM_REAL *x, int m)
__STATIC__ LM_REAL *buf=NULL;
__STATIC__ int buf_sz=0;
LM_REAL *a, *b;
int a_sz, b_sz, tot_sz;
LM_REAL *a;
int a_sz, tot_sz;
register int i;
int info, nrhs=1;
if(!A)
#ifdef LINSOLVERS_RETAIN_MEMORY
{
if(buf) free(buf);
buf=NULL;
buf_sz=0;
return 1;
}
#else
......@@ -464,8 +461,7 @@ int info, nrhs=1;
/* calculate required memory size */
a_sz=m*m;
b_sz=m;
tot_sz=a_sz + b_sz;
tot_sz=a_sz;
#ifdef LINSOLVERS_RETAIN_MEMORY
if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
......@@ -488,16 +484,15 @@ int info, nrhs=1;
#endif /* LINSOLVERS_RETAIN_MEMORY */
a=buf;
b=a+a_sz;
/* store A into a anb B into b. A is assumed symmetric,
/* store A into a and B into x. A is assumed symmetric,
* hence no transposition is needed
*/
for(i=0; i<m; i++){
a[i]=A[i];
b[i]=B[i];
x[i]=B[i];
}
for(i=m; i<m*m; i++)
for(i=m; i<m*m; i++)
a[i]=A[i];
/* Cholesky decomposition of A */
......@@ -511,8 +506,7 @@ int info, nrhs=1;
exit(1);
}
else{
fprintf(stderr, RCAT(RCAT(RCAT("LAPACK error: the leading minor of order %d is not positive definite,\nthe factorization could not be completed for ", POTF2) "/", POTRF), " in ",
AX_EQ_B_CHOL) "()\n", info);
fprintf(stderr, RCAT(RCAT(RCAT("LAPACK error: the leading minor of order %d is not positive definite,\nthe factorization could not be completed for ", POTF2) "/", POTRF) " in ", AX_EQ_B_CHOL) "()\n", info);
#ifndef LINSOLVERS_RETAIN_MEMORY
free(buf);
#endif
......@@ -522,7 +516,7 @@ int info, nrhs=1;
}
/* solve using the computed Cholesky in one lapack call */
POTRS("U", (int *)&m, (int *)&nrhs, a, (int *)&m, b, (int *)&m, &info);
POTRS("U", (int *)&m, (int *)&nrhs, a, (int *)&m, x, (int *)&m, &info);
if(info<0){
fprintf(stderr, RCAT(RCAT("LAPACK error: illegal value for argument %d of ", POTRS) " in ", AX_EQ_B_CHOL) "()\n", -info);
exit(1);
......@@ -530,7 +524,7 @@ int info, nrhs=1;
#if 0
/* alternative: solve the linear system U^T y = b ... */
TRTRS("U", "T", "N", (int *)&m, (int *)&nrhs, a, (int *)&m, b, (int *)&m, &info);
TRTRS("U", "T", "N", (int *)&m, (int *)&nrhs, a, (int *)&m, x, (int *)&m, &info);
/* error treatment */
if(info!=0){
if(info<0){
......@@ -548,7 +542,7 @@ int info, nrhs=1;
}
/* ... solve the linear system U x = y */
TRTRS("U", "N", "N", (int *)&m, (int *)&nrhs, a, (int *)&m, b, (int *)&m, &info);
TRTRS("U", "N", "N", (int *)&m, (int *)&nrhs, a, (int *)&m, x, (int *)&m, &info);
/* error treatment */
if(info!=0){
if(info<0){
......@@ -566,10 +560,6 @@ int info, nrhs=1;
}
#endif /* 0 */
/* copy the result in x */
for(i=0; i<m; i++)
x[i]=b[i];
#ifndef LINSOLVERS_RETAIN_MEMORY
free(buf);
#endif
......@@ -599,17 +589,18 @@ int AX_EQ_B_LU(LM_REAL *A, LM_REAL *B, LM_REAL *x, int m)
__STATIC__ LM_REAL *buf=NULL;
__STATIC__ int buf_sz=0;
int a_sz, ipiv_sz, b_sz, tot_sz;
int a_sz, ipiv_sz, tot_sz;
register int i, j;
int info, *ipiv, nrhs=1;
LM_REAL *a, *b;
LM_REAL *a;
if(!A)
#ifdef LINSOLVERS_RETAIN_MEMORY
{
if(buf) free(buf);
buf=NULL;
buf_sz=0;
return 1;
}
#else
......@@ -619,8 +610,7 @@ LM_REAL *a, *b;
/* calculate required memory size */
ipiv_sz=m;
a_sz=m*m;
b_sz=m;
tot_sz=(a_sz + b_sz)*sizeof(LM_REAL) + ipiv_sz*sizeof(int); /* should be arranged in that order for proper doubles alignment */
tot_sz=a_sz*sizeof(LM_REAL) + ipiv_sz*sizeof(int); /* should be arranged in that order for proper doubles alignment */
#ifdef LINSOLVERS_RETAIN_MEMORY
if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
......@@ -643,15 +633,14 @@ LM_REAL *a, *b;
#endif /* LINSOLVERS_RETAIN_MEMORY */
a=buf;
b=a+a_sz;
ipiv=(int *)(b+b_sz);
ipiv=(int *)(a+a_sz);
/* store A (column major!) into a and B into b */
/* store A (column major!) into a and B into x */
for(i=0; i<m; i++){
for(j=0; j<m; j++)
a[i+j*m]=A[i*m+j];
b[i]=B[i];
x[i]=B[i];
}
/* LU decomposition for A */
......@@ -672,7 +661,7 @@ LM_REAL *a, *b;
}
/* solve the system with the computed LU */
GETRS("N", (int *)&m, (int *)&nrhs, a, (int *)&m, ipiv, b, (int *)&m, (int *)&info);
GETRS("N", (int *)&m, (int *)&nrhs, a, (int *)&m, ipiv, x, (int *)&m, (int *)&info);
if(info!=0){
if(info<0){
fprintf(stderr, RCAT(RCAT("argument %d of ", GETRS) " illegal in ", AX_EQ_B_LU) "()\n", -info);
......@@ -688,11 +677,6 @@ LM_REAL *a, *b;
}
}
/* copy the result in x */
for(i=0; i<m; i++){
x[i]=b[i];
}
#ifndef LINSOLVERS_RETAIN_MEMORY
free(buf);
#endif
......@@ -729,13 +713,14 @@ int a_sz, u_sz, s_sz, vt_sz, tot_sz;
LM_REAL thresh, one_over_denom;
register LM_REAL sum;
int info, rank, worksz, *iwork, iworksz;
if(!A)
#ifdef LINSOLVERS_RETAIN_MEMORY
{
if(buf) free(buf);
buf=NULL;
buf_sz=0;
return 1;
}
#else
......@@ -844,22 +829,145 @@ int info, rank, worksz, *iwork, iworksz;
return 1;
}
/*
* This function returns the solution of Ax = b for a real symmetric matrix A
*
* The function is based on UDUT factorization with the pivoting
* strategy of Bunch and Kaufman:
* A is factored as U*D*U^T where U is upper triangular and
* D symmetric and block diagonal (aka spectral decomposition,
* Banachiewicz factorization, modified Cholesky factorization)
*
* A is mxm, b is mx1.
*
* The function returns 0 in case of error, 1 if successfull
*
* This function is often called repetitively to solve problems of identical
* dimensions. To avoid repetitive malloc's and free's, allocated memory is
* retained between calls and free'd-malloc'ed when not of the appropriate size.
* A call with NULL as the first argument forces this memory to be released.
*/
int AX_EQ_B_BK(LM_REAL *A, LM_REAL *B, LM_REAL *x, int m)
{
__STATIC__ LM_REAL *buf=NULL;
__STATIC__ int buf_sz=0, nb=0;
LM_REAL *a, *work;
int a_sz, ipiv_sz, work_sz, tot_sz;
register int i, j;
int info, *ipiv, nrhs=1;
if(!A)
#ifdef LINSOLVERS_RETAIN_MEMORY
{
if(buf) free(buf);
buf=NULL;
buf_sz=0;
return 1;
}
#else
return 1; /* NOP */
#endif /* LINSOLVERS_RETAIN_MEMORY */
/* calculate required memory size */
ipiv_sz=m;
a_sz=m*m;
if(!nb){
LM_REAL tmp;
work_sz=-1; // workspace query; optimal size is returned in tmp
SYTRF("U", (int *)&m, NULL, (int *)&m, NULL, (LM_REAL *)&tmp, (int *)&work_sz, (int *)&info);
nb=((int)tmp)/m; // optimal worksize is m*nb
}
work_sz=(nb!=-1)? nb*m : 1;
tot_sz=(a_sz + work_sz)*sizeof(LM_REAL) + ipiv_sz*sizeof(int); /* should be arranged in that order for proper doubles alignment */
#ifdef LINSOLVERS_RETAIN_MEMORY
if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
if(buf) free(buf); /* free previously allocated memory */
buf_sz=tot_sz;
buf=(LM_REAL *)malloc(buf_sz);
if(!buf){
fprintf(stderr, RCAT("memory allocation in ", AX_EQ_B_BK) "() failed!\n");
exit(1);
}
}
#else
buf_sz=tot_sz;
buf=(LM_REAL *)malloc(buf_sz);
if(!buf){
fprintf(stderr, RCAT("memory allocation in ", AX_EQ_B_BK) "() failed!\n");
exit(1);
}
#endif /* LINSOLVERS_RETAIN_MEMORY */
a=buf;
work=a+a_sz;
ipiv=(int *)(work+work_sz);
/* store A into a and B into x; A is assumed to be symmetric, hence
* the column and row major order representations are the same
*/
for(i=0; i<m; ++i){
a[i]=A[i];
x[i]=B[i];
}
for(j=m*m; i<j; ++i) // copy remaining rows; note that i is not re-initialized
a[i]=A[i];
/* UDUt factorization for A */
SYTRF("U", (int *)&m, a, (int *)&m, ipiv, work, (int *)&work_sz, (int *)&info);
if(info!=0){
if(info<0){
fprintf(stderr, RCAT(RCAT("LAPACK error: illegal value for argument %d of ", SYTRF) " in ", AX_EQ_B_BK) "()\n", -info);
exit(1);
}
else{
fprintf(stderr, RCAT(RCAT("LAPACK error: singular block diagonal matrix D for", SYTRF) " in ", AX_EQ_B_BK)"() [D(%d, %d) is zero]\n", info, info);
#ifndef LINSOLVERS_RETAIN_MEMORY
free(buf);
#endif
return 0;
}
}
/* solve the system with the computed factorization */
SYTRS("U", (int *)&m, (int *)&nrhs, a, (int *)&m, ipiv, x, (int *)&m, (int *)&info);
if(info<0){
fprintf(stderr, RCAT(RCAT("LAPACK error: illegal value for argument %d of ", SYTRS) " in ", AX_EQ_B_BK) "()\n", -info);
exit(1);
}
#ifndef LINSOLVERS_RETAIN_MEMORY
free(buf);
#endif
return 1;
}
/* undefine all. IT MUST REMAIN IN THIS POSITION IN FILE */
#undef AX_EQ_B_QR
#undef AX_EQ_B_QRLS
#undef AX_EQ_B_CHOL
#undef AX_EQ_B_LU
#undef AX_EQ_B_SVD
#undef AX_EQ_B_BK
#undef GEQRF
#undef ORGQR
#undef TRTRS
#undef POTF2
#undef POTRF
#undef POTRS
#undef GETRF
#undef GETRS
#undef GESVD
#undef GESDD
#undef SYTRF
#undef SYTRS
#else // no LAPACK
......@@ -876,14 +984,15 @@ int info, rank, worksz, *iwork, iworksz;
extern int GETRF(int *m, int *n, LM_REAL *a, int *lda, int *ipiv, int *info);
extern int GETRS(char *trans, int *n, int *nrhs, LM_REAL *a, int *lda, int *ipiv, LM_REAL *b, int *ldb, int *info);
/* End added by EB */
#define AX_EQ_B_LU LM_ADD_PREFIX(Ax_eq_b_LU_noLapack)
/*
* This function returns the solution of Ax = b
*
* The function employs LU decomposition followed by forward/back substitution (see
* also the LAPACK-based LU solver above)
* The function employs LU decomposition:
* If A=L U with L lower and U upper triangular, then the original system
* amounts to solving
* L y = b, U x = y
*
* A is mxm, b is mx1
*
......@@ -896,20 +1005,21 @@ extern int GETRS(char *trans, int *n, int *nrhs, LM_REAL *a, int *lda, int *ipiv
*/
int AX_EQ_B_LU(LM_REAL *A, LM_REAL *B, LM_REAL *x, int m)
{
__STATIC__ void *buf=NULL;
__STATIC__ LM_REAL *buf=NULL;
__STATIC__ int buf_sz=0;
int a_sz, ipiv_sz, b_sz, tot_sz;
int a_sz, ipiv_sz, tot_sz;
register int i, j;
int info, *ipiv;
LM_REAL *a, *b;
int info, *ipiv, nrhs=1;
LM_REAL *a;
if(!A)
#ifdef LINSOLVERS_RETAIN_MEMORY
{
if(buf) free(buf);
buf=NULL;
buf_sz=0;
return 1;
}
#else
......@@ -919,15 +1029,14 @@ LM_REAL *a, *b;
/* calculate required memory size */
ipiv_sz=m;
a_sz=m*m;
b_sz=m;
tot_sz=(ipiv_sz + a_sz + b_sz)*sizeof(LM_REAL);
tot_sz=a_sz*sizeof(LM_REAL) + ipiv_sz*sizeof(int); /* should be arranged in that order for proper doubles alignment */
#ifdef LINSOLVERS_RETAIN_MEMORY
if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
if(buf) free(buf); /* free previously allocated memory */
buf_sz=tot_sz;
buf=(void *)malloc(buf_sz);
buf=(LM_REAL *)malloc(buf_sz);
if(!buf){
fprintf(stderr, RCAT("memory allocation in ", AX_EQ_B_LU) "() failed!\n");
exit(1);
......@@ -935,26 +1044,26 @@ LM_REAL *a, *b;
}
#else
buf_sz=tot_sz;
buf=(void *)malloc(buf_sz);
buf=(LM_REAL *)malloc(buf_sz);
if(!buf){
fprintf(stderr, RCAT("memory allocation in ", AX_EQ_B_LU) "() failed!\n");
exit(1);
}
#endif /* LINSOLVERS_RETAIN_MEMORY */
ipiv=(int *)buf;
a=(LM_REAL *)(ipiv + ipiv_sz);
b=a+a_sz;
a=buf;
ipiv=(int *)(a+a_sz);
/* store A (column major!) into a and B into b */
/* store A (column major!) into a and B into x */
for(i=0; i<m; i++){
for(j=0; j<m; j++)
a[i+j*m]=A[i*m+j];
b[i]=B[i];
x[i]=B[i];
}
/* LU decomposition for A */
//GETRF((int *)&m, (int *)&m, a, (int *)&m, ipiv, (int *)&info);
info = ATLAS_POTRF(CblasRowMajor, CblasUpper, m, a, m);
if(info!=0){
if(info<0){
......@@ -962,7 +1071,7 @@ LM_REAL *a, *b;
exit(1);
}
else{
// fprintf(stderr, RCAT(RCAT("singular matrix A for ", GETRF) " in ", AX_EQ_B_LU) "()\n");
fprintf(stderr, RCAT(RCAT("singular matrix A for ", GETRF) " in ", AX_EQ_B_LU) "()\n");
#ifndef LINSOLVERS_RETAIN_MEMORY
free(buf);
#endif
......@@ -972,7 +1081,8 @@ LM_REAL *a, *b;
}
/* solve the system with the computed LU */
info = ATLAS_POTRS(CblasRowMajor, CblasUpper, m, 1, a, m, b, m);
//GETRS("N", (int *)&m, (int *)&nrhs, a, (int *)&m, ipiv, x, (int *)&m, (int *)&info);
info = ATLAS_POTRS(CblasRowMajor, CblasUpper, m, 1, a, m, x, m);
if(info!=0){
if(info<0){
fprintf(stderr, RCAT(RCAT("argument %d of ", GETRS) " illegal in ", AX_EQ_B_LU) "()\n", -info);
......@@ -988,21 +1098,177 @@ LM_REAL *a, *b;
}
}
/* copy the result in x */
for(i=0; i<m; i++){
x[i]=b[i];
}
#ifndef LINSOLVERS_RETAIN_MEMORY
free(buf);
#endif
return 1;
return 1;
}
///* This function returns the solution of Ax = b
// *
// * The function employs LU decomposition followed by forward/back substitution (see
// * also the LAPACK-based LU solver above)
// *
// * A is mxm, b is mx1
// *
// * The function returns 0 in case of error, 1 if successful
// *
// * This function is often called repetitively to solve problems of identical
// * dimensions. To avoid repetitive malloc's and free's, allocated memory is
// * retained between calls and free'd-malloc'ed when not of the appropriate size.
// * A call with NULL as the first argument forces this memory to be released.
// */
//int AX_EQ_B_LU(LM_REAL *A, LM_REAL *B, LM_REAL *x, int m)
//{
//__STATIC__ void *buf=NULL;
//__STATIC__ int buf_sz=0;
//
//register int i, j, k;
//int *idx, maxi=-1, idx_sz, a_sz, work_sz, tot_sz;
//LM_REAL *a, *work, max, sum, tmp;
//
// if(!A)
//#ifdef LINSOLVERS_RETAIN_MEMORY
// {
// if(buf) free(buf);
// buf=NULL;
// buf_sz=0;
//
// return 1;
// }
//#else
// return 1; /* NOP */
//#endif /* LINSOLVERS_RETAIN_MEMORY */
//
// /* calculate required memory size */
// idx_sz=m;
// a_sz=m*m;
// work_sz=m;
// tot_sz=(a_sz+work_sz)*sizeof(LM_REAL) + idx_sz*sizeof(int); /* should be arranged in that order for proper doubles alignment */
//
//#ifdef LINSOLVERS_RETAIN_MEMORY
// if(tot_sz>buf_sz){ /* insufficient memory, allocate a "big" memory chunk at once */
// if(buf) free(buf); /* free previously allocated memory */
//
// buf_sz=tot_sz;
// buf=(void *)malloc(tot_sz);
// if(!buf){
// fprintf(stderr, RCAT("memory allocation in ", AX_EQ_B_LU) "() failed!\n");
// exit(1);
// }
// }
//#else
// buf_sz=tot_sz;
// buf=(void *)malloc(tot_sz);
// if(!buf){
// fprintf(stderr, RCAT("memory allocation in ", AX_EQ_B_LU) "() failed!\n");
// exit(1);
// }
//#endif /* LINSOLVERS_RETAIN_MEMORY */
//
// a=buf;
// work=a+a_sz;
// idx=(int *)(work+work_sz);
//
// /* avoid destroying A, B by copying them to a, x resp. */
// for(i=0; i<m; ++i){ // B & 1st row of A
// a[i]=A[i];
// x[i]=B[i];
// }
// for( ; i<a_sz; ++i) a[i]=A[i]; // copy A's remaining rows
// /****
// for(i=0; i<m; ++i){
// for(j=0; j<m; ++j)
// a[i*m+j]=A[i*m+j];
// x[i]=B[i];
// }
// ****/
//
// /* compute the LU decomposition of a row permutation of matrix a; the permutation itself is saved in idx[] */
// for(i=0; i<m; ++i){
// max=0.0;
// for(j=0; j<m; ++j)
// if((tmp=FABS(a[i*m+j]))>max)
// max=tmp;
// if(max==0.0){
// fprintf(stderr, RCAT("Singular matrix A in ", AX_EQ_B_LU) "()!\n");
//#ifndef LINSOLVERS_RETAIN_MEMORY
// free(buf);
//#endif
//
// return 0;
// }
// work[i]=LM_CNST(1.0)/max;
// }
//
// for(j=0; j<m; ++j){
// for(i=0; i<j; ++i){
// sum=a[i*m+j];
// for(k=0; k<i; ++k)
// sum-=a[i*m+k]*a[k*m+j];
// a[i*m+j]=sum;
// }
// max=0.0;
// for(i=j; i<m; ++i){
// sum=a[i*m+j];
// for(k=0; k<j; ++k)
// sum-=a[i*m+k]*a[k*m+j];
// a[i*m+j]=sum;
// if((tmp=work[i]*FABS(sum))>=max){
// max=tmp;
// maxi=i;
// }
// }
// if(j!=maxi){
// for(k=0; k<m; ++k){
// tmp=a[maxi*m+k];
// a[maxi*m+k]=a[j*m+k];
// a[j*m+k]=tmp;
// }
// work[maxi]=work[j];
// }
// idx[j]=maxi;
// if(a[j*m+j]==0.0)
// a[j*m+j]=LM_REAL_EPSILON;
// if(j!=m-1){
// tmp=LM_CNST(1.0)/(a[j*m+j]);
// for(i=j+1; i<m; ++i)
// a[i*m+j]*=tmp;
// }
// }
//
// /* The decomposition has now replaced a. Solve the linear system using
// * forward and back substitution
// */
// for(i=k=0; i<m; ++i){
// j=idx[i];
// sum=x[j];
// x[j]=x[i];
// if(k!=0)
// for(j=k-1; j<i; ++j)
// sum-=a[i*m+j]*x[j];
// else
// if(sum!=0.0)
// k=i+1;
// x[i]=sum;
// }
//
// for(i=m-1; i>=0; --i){
// sum=x[i];
// for(j=i+1; j<m; ++j)
// sum-=a[i*m+j]*x[j];
// x[i]=sum/a[i*m+i];
// }
//
//#ifndef LINSOLVERS_RETAIN_MEMORY
// free(buf);
//#endif
//
// return 1;
//}
//
/* undefine all. IT MUST REMAIN IN THIS POSITION IN FILE */
#undef AX_EQ_B_LU
/* Added by EB */
#undef GETRF
#undef GETRS
/* End Added by EB */
#endif /* HAVE_LAPACK */
src/levmar/CMakeLists.txt
View file @ a9446199
......@@ -5,8 +5,8 @@ PROJECT(LEVMAR)
#CMAKE_MINIMUM_REQUIRED(VERSION 1.4)
# compiler flags
ADD_DEFINITIONS(-DLINSOLVERS_RETAIN_MEMORY) # do not free memory between linear solvers calls
#REMOVE_DEFINITIONS(-DLINSOLVERS_RETAIN_MEMORY)
#ADD_DEFINITIONS(-DLINSOLVERS_RETAIN_MEMORY) # do not free memory between linear solvers calls
#REMOVE_DEFINITIONS(-DLINSOLVERS_RETAIN_MEMORY) # free memory between calls
# f2c is sometimes equivalent to libF77 & libI77; in that case, set HAVE_F2C to 0
SET(HAVE_F2C 1 CACHE BOOL "Do we have f2c or F77/I77?" )
......@@ -26,17 +26,19 @@ ENDIF(HAVE_F2C)
########################## NO CHANGES BEYOND THIS POINT ##########################
INCLUDE_DIRECTORIES(.)
#INCLUDE_DIRECTORIES(/usr/include)
LINK_DIRECTORIES(${LAPACKBLAS_DIR})
# levmar library source files
ADD_LIBRARY(levmar STATIC
lm.c Axb.c misc.c lmlec.c lmbc.c lmblec.c
lm.h misc.h compiler.h
lm.c Axb.c misc.c lmlec.c lmbc.c lmblec.c lmbleic.c
levmar.h misc.h compiler.h
)
# demo program
ADD_EXECUTABLE(lmdemo lmdemo.c lm.h)
LINK_DIRECTORIES(${LAPACKBLAS_DIR})
LINK_DIRECTORIES(.)
ADD_EXECUTABLE(lmdemo lmdemo.c levmar.h)
# libraries the demo depends on
IF(HAVE_F2C)
TARGET_LINK_LIBRARIES(lmdemo levmar ${LAPACK_LIB} ${BLAS_LIB} ${F2C_LIB})
......
src/levmar/Makefile.am
View file @ a9446199
# Makefile.am for the levmar Levenberg-Marquardt fitting library
# Copyright (C) 2008 Emmanuel Bertin.
# Copyright (C) 2007-2010 Emmanuel Bertin.
# levmar code by Manolis Lourakis <lourakis@ics.forth.gr>
# http://www.ics.forth.gr/~lourakis/levmar/
noinst_LIBRARIES = liblevmar.a
liblevmar_a_SOURCES = Axb.c lmbc.c lm.c lmblec.c lmlec.c misc.c \
compiler.h lm.h misc.h
liblevmar_a_SOURCES = Axb.c lmbc.c lm.c lmblec.c lmbleic.c lmlec.c misc.c \
compiler.h levmar.h misc.h
EXTRA_liblevmar_a_SOURCES = Axb_core.c lmbc_core.c lm_core.c \
lmblec_core.c lmlec_core.c misc_core.c \
LICENSE README README.txt lmdemo.c
lmblec_core.c lmbleic_core.c lmlec_core.c \
misc_core.c \
LICENSE README README.txt \
Makefile.icc Makefile.vc levmar.vcproj lmdemo.vcproj \
expfit.c lmdemo.c lm.h matlab
src/levmar/Makefile.icc
View file @ a9446199
......@@ -11,8 +11,8 @@ ARCHFLAGS=-march=pentium4 -mcpu=pentium4
CFLAGS=$(CONFIGFLAGS) $(ARCHFLAGS) -O3 -tpp7 -xW -ip -ipo -unroll #-g
LAPACKLIBS_PATH=/usr/local/lib # WHEN USING LAPACK, CHANGE THIS TO WHERE YOUR COMPILED LIBS ARE!
LDFLAGS=-L$(LAPACKLIBS_PATH) -L.
LIBOBJS=lm.o Axb.o misc.o lmlec.o lmbc.o lmblec.o
LIBSRCS=lm.c Axb.c misc.c lmlec.c lmbc.c lmblec.c
LIBOBJS=lm.o Axb.o misc.o lmlec.o lmbc.o lmblec.o lmbleic.o
LIBSRCS=lm.c Axb.c misc.c lmlec.c lmbc.c lmblec.c lmbleic.c
DEMOBJS=lmdemo.o
DEMOSRCS=lmdemo.c
AR=xiar
......@@ -24,6 +24,9 @@ LAPACKLIBS=-llapack -lblas -lf2c # comment this line if you are not using LAPACK
# The following works with the ATLAS updated lapack and Linux_P4SSE2 from http://www.netlib.org/atlas/archives/linux/
#LAPACKLIBS=-L/usr/local/atlas/lib -llapack -lcblas -lf77blas -latlas -lf2c
#LAPACKLIBS=-llapack -lgoto2 -lpthread -lf2c # This works with GotoBLAS
# from http://www.tacc.utexas.edu/research-development/tacc-projects/
LIBS=$(LAPACKLIBS)
all: liblevmar.a lmdemo
......@@ -35,14 +38,15 @@ liblevmar.a: $(LIBOBJS)
lmdemo: $(DEMOBJS) liblevmar.a
$(CC) $(ARCHFLAGS) $(LDFLAGS) $(DEMOBJS) -o lmdemo -llevmar $(LIBS) -lm
lm.o: lm.c lm_core.c lm.h misc.h compiler.h
Axb.o: Axb.c Axb_core.c lm.h misc.h
misc.o: misc.c misc_core.c lm.h misc.h
lmlec.o: lmlec.c lmlec_core.c lm.h misc.h
lmbc.o: lmbc.c lmbc_core.c lm.h misc.h compiler.h
lmblec.o: lmblec.c lmblec_core.c lm.h misc.h
lm.o: lm.c lm_core.c levmar.h misc.h compiler.h
Axb.o: Axb.c Axb_core.c levmar.h misc.h
misc.o: misc.c misc_core.c levmar.h misc.h
lmlec.o: lmlec.c lmlec_core.c levmar.h misc.h
lmbc.o: lmbc.c lmbc_core.c levmar.h misc.h compiler.h
lmblec.o: lmblec.c lmblec_core.c levmar.h misc.h
lmbleic.o: lmbleic.c lmbleic_core.c levmar.h misc.h
lmdemo.o: lm.h
lmdemo.o: levmar.h
clean:
@rm -f $(LIBOBJS) $(DEMOBJS)
......
src/levmar/Makefile.in
View file @ a9446199
......@@ -50,7 +50,8 @@ ARFLAGS = cru
liblevmar_a_AR = $(AR) $(ARFLAGS)
liblevmar_a_LIBADD =
am_liblevmar_a_OBJECTS = Axb.$(OBJEXT) lmbc.$(OBJEXT) lm.$(OBJEXT) \
lmblec.$(OBJEXT) lmlec.$(OBJEXT) misc.$(OBJEXT)
lmblec.$(OBJEXT) lmbleic.$(OBJEXT) lmlec.$(OBJEXT) \
misc.$(OBJEXT)
liblevmar_a_OBJECTS = $(am_liblevmar_a_OBJECTS)
DEFAULT_INCLUDES = -I.@am__isrc@ -I$(top_builddir)
depcomp = $(SHELL) $(top_srcdir)/autoconf/depcomp
......@@ -195,16 +196,19 @@ top_builddir = @top_builddir@
top_srcdir = @top_srcdir@
# Makefile.am for the levmar Levenberg-Marquardt fitting library
# Copyright (C) 2008 Emmanuel Bertin.
# Copyright (C) 2007-2010 Emmanuel Bertin.
# levmar code by Manolis Lourakis <lourakis@ics.forth.gr>
# http://www.ics.forth.gr/~lourakis/levmar/
noinst_LIBRARIES = liblevmar.a
liblevmar_a_SOURCES = Axb.c lmbc.c lm.c lmblec.c lmlec.c misc.c \
compiler.h lm.h misc.h
liblevmar_a_SOURCES = Axb.c lmbc.c lm.c lmblec.c lmbleic.c lmlec.c misc.c \
compiler.h levmar.h misc.h
EXTRA_liblevmar_a_SOURCES = Axb_core.c lmbc_core.c lm_core.c \
lmblec_core.c lmlec_core.c misc_core.c \
LICENSE README README.txt lmdemo.c
lmblec_core.c lmbleic_core.c lmlec_core.c \
misc_core.c \
LICENSE README README.txt \
Makefile.icc Makefile.vc levmar.vcproj lmdemo.vcproj \
expfit.c lmdemo.c lm.h matlab
all: all-am
......@@ -255,12 +259,15 @@ distclean-compile:
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Axb.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Axb_core.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/expfit.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lm.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lm_core.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lmbc.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lmbc_core.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lmblec.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lmblec_core.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lmbleic.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lmbleic_core.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lmdemo.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lmlec.Po@am__quote@
@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/lmlec_core.Po@am__quote@
......
src/levmar/Makefile.vc
View file @ a9446199
......@@ -21,8 +21,8 @@ CONFIGFLAGS=#/ULINSOLVERS_RETAIN_MEMORY
CFLAGS=$(CONFIGFLAGS) /I. /MD /W3 /EHsc /O2 $(SPOPTFLAGS) # /Wall
LAPACKLIBS_PATH=C:\src\lib # WHEN USING LAPACK, CHANGE THIS TO WHERE YOUR COMPILED LIBS ARE!
LDFLAGS=/link /subsystem:console /opt:ref /libpath:$(LAPACKLIBS_PATH) /libpath:.
LIBOBJS=lm.obj Axb.obj misc.obj lmlec.obj lmbc.obj lmblec.obj
LIBSRCS=lm.c Axb.c misc.c lmlec.c lmbc.c lmblec.c
LIBOBJS=lm.obj Axb.obj misc.obj lmlec.obj lmbc.obj lmblec.obj lmbleic.obj
LIBSRCS=lm.c Axb.c misc.c lmlec.c lmbc.c lmblec.c lmbleic.c
DEMOBJS=lmdemo.obj
DEMOSRCS=lmdemo.c
AR=lib /nologo
......@@ -40,14 +40,15 @@ levmar.lib: $(LIBOBJS)
lmdemo.exe: $(DEMOBJS) levmar.lib
$(CC) $(DEMOBJS) $(LDFLAGS) /out:lmdemo.exe $(LIBS)
lm.obj: lm.c lm_core.c lm.h misc.h compiler.h
Axb.obj: Axb.c Axb_core.c lm.h misc.h
misc.obj: misc.c misc_core.c lm.h misc.h
lmlec.obj: lmlec.c lmlec_core.c lm.h misc.h
lmbc.obj: lmbc.c lmbc_core.c lm.h misc.h compiler.h
lmblec.obj: lmblec.c lmblec_core.c lm.h misc.h
lm.obj: lm.c lm_core.c levmar.h misc.h compiler.h
Axb.obj: Axb.c Axb_core.c levmar.h misc.h
misc.obj: misc.c misc_core.c levmar.h misc.h
lmlec.obj: lmlec.c lmlec_core.c levmar.h misc.h
lmbc.obj: lmbc.c lmbc_core.c levmar.h misc.h compiler.h
lmblec.obj: lmblec.c lmblec_core.c levmar.h misc.h
lmbleic.obj: lmbleic.c lmbleic_core.c levmar.h misc.h
lmdemo.obj: lm.h
lmdemo.obj: levmar.h
clean:
-del $(LIBOBJS) $(DEMOBJS)
......
src/levmar/README
View file @ a9446199
The levmar v2.4 library has been included in this package untouched, except for
The levmar v2.5 library has been included in this package untouched, except for
three warnings removed, LU decomposition replaced with calls to ATLAS-Lapack
routines, Hessian matrix inversion done with SVD, and an AutoMakefile added.
Emmanuel Bertin <bertin@iap.fr>
src/levmar/README.txt
View file @ a9446199
**************************************************************
LEVMAR
version 2.4
version 2.5
By Manolis Lourakis
Institute of Computer Science
......@@ -12,15 +12,15 @@
GENERAL
This is levmar, a copylefted C/C++ implementation of the Levenberg-Marquardt non-linear
least squares algorithm. levmar includes double and single precision LM versions, both
with analytic and finite difference approximated jacobians. levmar also has some support
for constrained non-linear least squares, allowing linear equation and box constraints.
You have the following options regarding the solution of the underlying augmented normal
equations:
with analytic and finite difference approximated Jacobians. levmar also has some support
for constrained non-linear least squares, allowing linear equation, box and linear
inequality constraints. The following options regarding the solution of the underlying
augmented normal equations are offered:
1) Assuming that you have LAPACK (or an equivalent vendor library such as ESSL, MKL,
NAG, ...) installed, you can use the included LAPACK-based solvers (default).
2) If you don't have LAPACK or decide not to use it, undefine HAVE_LAPACK in lm.h
2) If you don't have LAPACK or decide not to use it, undefine HAVE_LAPACK in levmar.h
and a LAPACK-free, LU-based linear systems solver will by used. Also, the line
setting the variable LAPACKLIBS in the Makefile should be commented out.
......@@ -38,12 +38,12 @@ LICENSE
levmar is released under the GNU Public License (GPL), which can be found in the included
LICENSE file. Note that under the terms of GPL, commercial use is allowed only if a software
employing levmar is also published in source under the GPL. However, if you are interested
in using levmar in a proprietary commercial apprlication, a commercial license for levmar
in using levmar in a proprietary commercial application, a commercial license for levmar
can be obtained by contacting the author using the email address at the end of this file.
COMPILATION
- You might first consider setting a few configuration options at the top of
lm.h. See the accompanying comments for more details.
levmar.h. See the accompanying comments for more details.
- On a Linux/Unix system, typing "make" will build both levmar and the demo
program using gcc. Alternatively, if Intel's C++ compiler is installed, it
......@@ -63,7 +63,7 @@ COMPILATION
for details.
MATLAB INTERFACE
Since version 2.2, the levmar distrubution includes a matlab interface.
Since version 2.2, the levmar distribution includes a matlab interface.
See the 'matlab' subdirectory for more information and examples of use.
Notice that *_core.c files are not to be compiled directly; For example,
......
src/levmar/compiler.h
View file @ a9446199
......@@ -38,4 +38,8 @@
#define LM_FINITE finite // other than MSVC, ICC, GCC, let's hope this will work
#endif
#ifdef _MSC_VER // avoid deprecation warnings in VS2005
#define _CRT_SECURE_NO_WARNINGS
#endif
#endif /* _COMPILER_H_ */
src/levmar/expfit.c
View file @ a9446199
......@@ -23,7 +23,7 @@
#include <stdlib.h>
#include <math.h>
#include <lm.h>
#include <levmar.h>
#ifndef LM_DBL_PREC
#error Example program assumes that levmar has been compiled with double precision, see LM_DBL_PREC!
......
src/levmar/levmar.h 0 → 100644
View file @ a9446199
/*
////////////////////////////////////////////////////////////////////////////////////
//
// Prototypes and definitions for the Levenberg - Marquardt minimization algorithm
// Copyright (C) 2004 Manolis Lourakis (lourakis at ics forth gr)
// Institute of Computer Science, Foundation for Research & Technology - Hellas
// Heraklion, Crete, Greece.
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
////////////////////////////////////////////////////////////////////////////////////
*/
#ifndef _LEVMAR_H_
#define _LEVMAR_H_
/************************************* Start of configuration options *************************************/
/* specify whether to use LAPACK or not. The first option is strongly recommended */
/*#define HAVE_LAPACK*/ /* use LAPACK */
#undef HAVE_LAPACK /* uncomment this to force not using LAPACK */
/* to avoid the overhead of repeated mallocs(), routines in Axb.c can be instructed to
* retain working memory between calls. Such a choice, however, renders these routines
* non-reentrant and is not safe in a shared memory multiprocessing environment.
* Bellow, this option is turned on only when not compiling with OpenMP.
*/
#if !defined(_OPENMP)
#define LINSOLVERS_RETAIN_MEMORY /* comment this if you don't want routines in Axb.c retain working memory between calls */
#endif
/* determine the precision variants to be build. Default settings build
* both the single and double precision routines
*/
#define LM_DBL_PREC /* comment this if you don't want the double precision routines to be compiled */
#define LM_SNGL_PREC /* comment this if you don't want the single precision routines to be compiled */
/****************** End of configuration options, no changes necessary beyond this point ******************/
#ifdef __cplusplus
extern "C" {
#endif
#define FABS(x) (((x)>=0.0)? (x) : -(x))
/* work arrays size for ?levmar_der and ?levmar_dif functions.
* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
*/
#define LM_DER_WORKSZ(npar, nmeas) (2*(nmeas) + 4*(npar) + (nmeas)*(npar) + (npar)*(npar))
#define LM_DIF_WORKSZ(npar, nmeas) (4*(nmeas) + 4*(npar) + (nmeas)*(npar) + (npar)*(npar))
/* work arrays size for ?levmar_bc_der and ?levmar_bc_dif functions.
* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
*/
#define LM_BC_DER_WORKSZ(npar, nmeas) (2*(nmeas) + 4*(npar) + (nmeas)*(npar) + (npar)*(npar))
#define LM_BC_DIF_WORKSZ(npar, nmeas) LM_BC_DER_WORKSZ((npar), (nmeas)) /* LEVMAR_BC_DIF currently implemented using LEVMAR_BC_DER()! */
/* work arrays size for ?levmar_lec_der and ?levmar_lec_dif functions.
* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
*/
#define LM_LEC_DER_WORKSZ(npar, nmeas, nconstr) LM_DER_WORKSZ((npar)-(nconstr), (nmeas))
#define LM_LEC_DIF_WORKSZ(npar, nmeas, nconstr) LM_DIF_WORKSZ((npar)-(nconstr), (nmeas))
/* work arrays size for ?levmar_blec_der and ?levmar_blec_dif functions.
* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
*/
#define LM_BLEC_DER_WORKSZ(npar, nmeas, nconstr) LM_LEC_DER_WORKSZ((npar), (nmeas)+(npar), (nconstr))
#define LM_BLEC_DIF_WORKSZ(npar, nmeas, nconstr) LM_LEC_DIF_WORKSZ((npar), (nmeas)+(npar), (nconstr))
/* work arrays size for ?levmar_bleic_der and ?levmar_bleic_dif functions.
* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
*/
#define LM_BLEIC_DER_WORKSZ(npar, nmeas, nconstr1, nconstr2) LM_BLEC_DER_WORKSZ((npar)+(nconstr2), (nmeas)+(nconstr2), (nconstr1)+(nconstr2))
#define LM_BLEIC_DIF_WORKSZ(npar, nmeas, nconstr1, nconstr2) LM_BLEC_DIF_WORKSZ((npar)+(nconstr2), (nmeas)+(nconstr2), (nconstr1)+(nconstr2))
#define LM_OPTS_SZ 5 /* max(4, 5) */
#define LM_INFO_SZ 10
#define LM_ERROR -1
#define LM_INIT_MU 1E-03
#define LM_STOP_THRESH 1E-17
#define LM_DIFF_DELTA 1E-06
#define LM_VERSION "2.5 (December 2009)"
#ifdef LM_DBL_PREC
/* double precision LM, with & without Jacobian */
/* unconstrained minimization */
extern int dlevmar_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, int itmax, double *opts,
double *info, double *work, double *covar, void *adata);
extern int dlevmar_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, int itmax, double *opts,
double *info, double *work, double *covar, void *adata);
/* box-constrained minimization */
extern int dlevmar_bc_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
extern int dlevmar_bc_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
#ifdef HAVE_LAPACK
/* linear equation constrained minimization */
extern int dlevmar_lec_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *A, double *b, int k,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
extern int dlevmar_lec_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *A, double *b, int k,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
/* box & linear equation constrained minimization */
extern int dlevmar_blec_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub, double *A, double *b, int k, double *wghts,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
extern int dlevmar_blec_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub, double *A, double *b, int k, double *wghts,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
/* box, linear equations & inequalities constrained minimization */
extern int dlevmar_bleic_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub,
double *A, double *b, int k1, double *C, double *d, int k2,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
extern int dlevmar_bleic_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub,
double *A, double *b, int k1, double *C, double *d, int k2,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
/* box & linear inequality constraints */
extern int dlevmar_blic_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub, double *C, double *d, int k2,
int itmax, double opts[4], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
extern int dlevmar_blic_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub, double *C, double *d, int k2,
int itmax, double opts[5], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
/* linear equation & inequality constraints */
extern int dlevmar_leic_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *A, double *b, int k1, double *C, double *d, int k2,
int itmax, double opts[4], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
extern int dlevmar_leic_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *A, double *b, int k1, double *C, double *d, int k2,
int itmax, double opts[5], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
/* linear inequality constraints */
extern int dlevmar_lic_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *C, double *d, int k2,
int itmax, double opts[4], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
extern int dlevmar_lic_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *C, double *d, int k2,
int itmax, double opts[5], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
#endif /* HAVE_LAPACK */
#endif /* LM_DBL_PREC */
#ifdef LM_SNGL_PREC
/* single precision LM, with & without Jacobian */
/* unconstrained minimization */
extern int slevmar_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, int itmax, float *opts,
float *info, float *work, float *covar, void *adata);
extern int slevmar_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, int itmax, float *opts,
float *info, float *work, float *covar, void *adata);
/* box-constrained minimization */
extern int slevmar_bc_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
extern int slevmar_bc_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
#ifdef HAVE_LAPACK
/* linear equation constrained minimization */
extern int slevmar_lec_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *A, float *b, int k,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
extern int slevmar_lec_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *A, float *b, int k,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
/* box & linear equation constrained minimization */
extern int slevmar_blec_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub, float *A, float *b, int k, float *wghts,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
extern int slevmar_blec_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub, float *A, float *b, int k, float *wghts,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
/* box, linear equations & inequalities constrained minimization */
extern int slevmar_bleic_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub,
float *A, float *b, int k1, float *C, float *d, int k2,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
extern int slevmar_bleic_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub,
float *A, float *b, int k1, float *C, float *d, int k2,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
/* box & linear inequality constraints */
extern int slevmar_blic_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub, float *C, float *d, int k2,
int itmax, float opts[4], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
extern int slevmar_blic_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub, float *C, float *d, int k2,
int itmax, float opts[5], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
/* linear equality & inequality constraints */
extern int slevmar_leic_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *A, float *b, int k1, float *C, float *d, int k2,
int itmax, float opts[4], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
extern int slevmar_leic_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *A, float *b, int k1, float *C, float *d, int k2,
int itmax, float opts[5], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
/* linear inequality constraints */
extern int slevmar_lic_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *C, float *d, int k2,
int itmax, float opts[4], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
extern int slevmar_lic_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *C, float *d, int k2,
int itmax, float opts[5], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
#endif /* HAVE_LAPACK */
#endif /* LM_SNGL_PREC */
/* linear system solvers */
#ifdef HAVE_LAPACK
#ifdef LM_DBL_PREC
extern int dAx_eq_b_QR(double *A, double *B, double *x, int m);
extern int dAx_eq_b_QRLS(double *A, double *B, double *x, int m, int n);
extern int dAx_eq_b_Chol(double *A, double *B, double *x, int m);
extern int dAx_eq_b_LU(double *A, double *B, double *x, int m);
extern int dAx_eq_b_SVD(double *A, double *B, double *x, int m);
extern int dAx_eq_b_BK(double *A, double *B, double *x, int m);
#endif /* LM_DBL_PREC */
#ifdef LM_SNGL_PREC
extern int sAx_eq_b_QR(float *A, float *B, float *x, int m);
extern int sAx_eq_b_QRLS(float *A, float *B, float *x, int m, int n);
extern int sAx_eq_b_Chol(float *A, float *B, float *x, int m);
extern int sAx_eq_b_LU(float *A, float *B, float *x, int m);
extern int sAx_eq_b_SVD(float *A, float *B, float *x, int m);
extern int sAx_eq_b_BK(float *A, float *B, float *x, int m);
#endif /* LM_SNGL_PREC */
#else /* no LAPACK */
#ifdef LM_DBL_PREC
extern int dAx_eq_b_LU_noLapack(double *A, double *B, double *x, int n);
#endif /* LM_DBL_PREC */
#ifdef LM_SNGL_PREC
extern int sAx_eq_b_LU_noLapack(float *A, float *B, float *x, int n);
#endif /* LM_SNGL_PREC */
#endif /* HAVE_LAPACK */
/* Jacobian verification, double & single precision */
#ifdef LM_DBL_PREC
extern void dlevmar_chkjac(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, int m, int n, void *adata, double *err);
#endif /* LM_DBL_PREC */
#ifdef LM_SNGL_PREC
extern void slevmar_chkjac(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, int m, int n, void *adata, float *err);
#endif /* LM_SNGL_PREC */
/* standard deviation, coefficient of determination (R2) & Pearson's correlation coefficient for best-fit parameters */
#ifdef LM_DBL_PREC
extern double dlevmar_stddev( double *covar, int m, int i);
extern double dlevmar_corcoef(double *covar, int m, int i, int j);
extern double dlevmar_R2(void (*func)(double *p, double *hx, int m, int n, void *adata), double *p, double *x, int m, int n, void *adata);
#endif /* LM_DBL_PREC */
#ifdef LM_SNGL_PREC
extern float slevmar_stddev( float *covar, int m, int i);
extern float slevmar_corcoef(float *covar, int m, int i, int j);
extern float slevmar_R2(void (*func)(float *p, float *hx, int m, int n, void *adata), float *p, float *x, int m, int n, void *adata);
#endif /* LM_SNGL_PREC */
#ifdef __cplusplus
}
#endif
#endif /* _LEVMAR_H_ */
src/levmar/lm.c
View file @ a9446199
......@@ -28,7 +28,7 @@
#include <math.h>
#include <float.h>
#include "lm.h"
#include "levmar.h"
#include "compiler.h"
#include "misc.h"
......
src/levmar/lm.h
View file @ a9446199
......@@ -19,15 +19,15 @@
////////////////////////////////////////////////////////////////////////////////////
*/
#ifndef _LM_H_
#define _LM_H_
#ifndef _LEVMAR_H_
#define _LEVMAR_H_
/************************************* Start of configuration options *************************************/
/* specify whether to use LAPACK or not. The first option is strongly recommended */
#define HAVE_LAPACK /* use LAPACK */
#undef HAVE_LAPACK /* uncomment this to force not using LAPACK */
/*#define HAVE_LAPACK*/ /* use LAPACK */
#undef HAVE_LAPACK /* uncomment this to force not using LAPACK */
/* to avoid the overhead of repeated mallocs(), routines in Axb.c can be instructed to
* retain working memory between calls. Such a choice, however, renders these routines
......@@ -78,13 +78,19 @@ extern "C" {
#define LM_BLEC_DER_WORKSZ(npar, nmeas, nconstr) LM_LEC_DER_WORKSZ((npar), (nmeas)+(npar), (nconstr))
#define LM_BLEC_DIF_WORKSZ(npar, nmeas, nconstr) LM_LEC_DIF_WORKSZ((npar), (nmeas)+(npar), (nconstr))
/* work arrays size for ?levmar_bleic_der and ?levmar_bleic_dif functions.
* should be multiplied by sizeof(double) or sizeof(float) to be converted to bytes
*/
#define LM_BLEIC_DER_WORKSZ(npar, nmeas, nconstr1, nconstr2) LM_BLEC_DER_WORKSZ((npar)+(nconstr2), (nmeas)+(nconstr2), (nconstr1)+(nconstr2))
#define LM_BLEIC_DIF_WORKSZ(npar, nmeas, nconstr1, nconstr2) LM_BLEC_DIF_WORKSZ((npar)+(nconstr2), (nmeas)+(nconstr2), (nconstr1)+(nconstr2))
#define LM_OPTS_SZ 5 /* max(4, 5) */
#define LM_INFO_SZ 10
#define LM_ERROR -1
#define LM_INIT_MU 1E-03
#define LM_STOP_THRESH 1E-17
#define LM_DIFF_DELTA 1E-06
#define LM_VERSION "2.4 (April 2009)"
#define LM_VERSION "2.5 (December 2009)"
#ifdef LM_DBL_PREC
/* double precision LM, with & without Jacobian */
......@@ -136,6 +142,56 @@ extern int dlevmar_blec_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub, double *A, double *b, int k, double *wghts,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
/* box, linear equations & inequalities constrained minimization */
extern int dlevmar_bleic_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub,
double *A, double *b, int k1, double *C, double *d, int k2,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
extern int dlevmar_bleic_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub,
double *A, double *b, int k1, double *C, double *d, int k2,
int itmax, double *opts, double *info, double *work, double *covar, void *adata);
/* box & linear inequality constraints */
extern int dlevmar_blic_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub, double *C, double *d, int k2,
int itmax, double opts[4], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
extern int dlevmar_blic_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *lb, double *ub, double *C, double *d, int k2,
int itmax, double opts[5], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
/* linear equation & inequality constraints */
extern int dlevmar_leic_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *A, double *b, int k1, double *C, double *d, int k2,
int itmax, double opts[4], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
extern int dlevmar_leic_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *A, double *b, int k1, double *C, double *d, int k2,
int itmax, double opts[5], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
/* linear inequality constraints */
extern int dlevmar_lic_der(
void (*func)(double *p, double *hx, int m, int n, void *adata),
void (*jacf)(double *p, double *j, int m, int n, void *adata),
double *p, double *x, int m, int n, double *C, double *d, int k2,
int itmax, double opts[4], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
extern int dlevmar_lic_dif(
void (*func)(double *p, double *hx, int m, int n, void *adata),
double *p, double *x, int m, int n, double *C, double *d, int k2,
int itmax, double opts[5], double info[LM_INFO_SZ], double *work, double *covar, void *adata);
#endif /* HAVE_LAPACK */
#endif /* LM_DBL_PREC */
......@@ -191,6 +247,56 @@ extern int slevmar_blec_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub, float *A, float *b, int k, float *wghts,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
/* box, linear equations & inequalities constrained minimization */
extern int slevmar_bleic_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub,
float *A, float *b, int k1, float *C, float *d, int k2,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
extern int slevmar_bleic_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub,
float *A, float *b, int k1, float *C, float *d, int k2,
int itmax, float *opts, float *info, float *work, float *covar, void *adata);
/* box & linear inequality constraints */
extern int slevmar_blic_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub, float *C, float *d, int k2,
int itmax, float opts[4], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
extern int slevmar_blic_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *lb, float *ub, float *C, float *d, int k2,
int itmax, float opts[5], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
/* linear equality & inequality constraints */
extern int slevmar_leic_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *A, float *b, int k1, float *C, float *d, int k2,
int itmax, float opts[4], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
extern int slevmar_leic_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *A, float *b, int k1, float *C, float *d, int k2,
int itmax, float opts[5], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
/* linear inequality constraints */
extern int slevmar_lic_der(
void (*func)(float *p, float *hx, int m, int n, void *adata),
void (*jacf)(float *p, float *j, int m, int n, void *adata),
float *p, float *x, int m, int n, float *C, float *d, int k2,
int itmax, float opts[4], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
extern int slevmar_lic_dif(
void (*func)(float *p, float *hx, int m, int n, void *adata),
float *p, float *x, int m, int n, float *C, float *d, int k2,
int itmax, float opts[5], float info[LM_INFO_SZ], float *work, float *covar, void *adata);
#endif /* HAVE_LAPACK */
#endif /* LM_SNGL_PREC */
......@@ -204,6 +310,7 @@ extern int dAx_eq_b_QRLS(double *A, double *B, double *x, int m, int n);
extern int dAx_eq_b_Chol(double *A, double *B, double *x, int m);
extern int dAx_eq_b_LU(double *A, double *B, double *x, int m);
extern int dAx_eq_b_SVD(double *A, double *B, double *x, int m);
extern int dAx_eq_b_BK(double *A, double *B, double *x, int m);
#endif /* LM_DBL_PREC */
#ifdef LM_SNGL_PREC
......@@ -212,6 +319,7 @@ extern int sAx_eq_b_QRLS(float *A, float *B, float *x, int m, int n);
extern int sAx_eq_b_Chol(float *A, float *B, float *x, int m);
extern int sAx_eq_b_LU(float *A, float *B, float *x, int m);
extern int sAx_eq_b_SVD(float *A, float *B, float *x, int m);
extern int sAx_eq_b_BK(float *A, float *B, float *x, int m);
#endif /* LM_SNGL_PREC */
#else /* no LAPACK */
......@@ -259,4 +367,4 @@ extern float slevmar_R2(void (*func)(float *p, float *hx, int m, int n, void *ad
}
#endif
#endif /* _LM_H_ */
#endif /* _LEVMAR_H_ */
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