add cminpack to the StereoCam repository

CopyrightMINPACK.txt

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+Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
+
+Redistribution and use in source and binary forms, with or
+without modification, are permitted provided that the
+following conditions are met:
+
+1. Redistributions of source code must retain the above
+copyright notice, this list of conditions and the following
+disclaimer.
+
+2. Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following
+disclaimer in the documentation and/or other materials
+provided with the distribution.
+
+3. The end-user documentation included with the
+redistribution, if any, must include the following
+acknowledgment:
+
+   "This product includes software developed by the
+   University of Chicago, as Operator of Argonne National
+   Laboratory.
+
+Alternately, this acknowledgment may appear in the software
+itself, if and wherever such third-party acknowledgments
+normally appear.
+
+4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
+WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
+UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
+THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
+OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
+OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
+USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
+THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
+DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
+UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
+BE CORRECTED.
+
+5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
+HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
+ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
+INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
+ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
+PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
+SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
+(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
+EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
+POSSIBILITY OF SUCH LOSS OR DAMAGES.
+

Makefile

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+CC=cc
+#CC=gcc
+CFLAGS= -O2 -I.
+OBJS = \
+chkder.o  enorm.o   hybrd1.o  hybrj.o   lmdif1.o  lmstr1.o  qrfac.o   r1updt.o\
+dogleg.o  fdjac1.o  hybrd.o   lmder1.o  lmdif.o   lmstr.o   qrsolv.o  rwupdt.o\
+dpmpar.o  fdjac2.o  hybrj1.o  lmder.o   lmpar.o   qform.o   r1mpyq.o
+
+# target dir for install
+DESTDIR=/usr/local
+#
+#  Static library target
+#
+
+libminpack.a:  $(OBJS)
+	ar r $@ $(OBJS); ranlib $@
+
+%.o: %.c
+	${CC} ${CFLAGS} -c -o $@ $<
+
+install: libminpack.a
+	cp libminpack.a ${DESTDIR}/lib
+	chmod 644 ${DESTDIR}/lib/libminpack.a
+	ranlib -t ${DESTDIR}/lib/libminpack.a # might be unnecessary
+	cp minpack.h ${DESTDIR}/include
+	chmod 644 ${DESTDIR}/include/minpack.h
+clean:
+	rm -f *.o libminpack.a

chkder.c

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+/* chkder.f -- translated by f2c (version 20020621).
+   You must link the resulting object file with the libraries:
+	-lf2c -lm   (in that order)
+*/
+
+#include <math.h>
+#include <f2c.h>
+
+#define log10e 0.43429448190325182765
+
+/* Table of constant values */
+
+static integer c__1 = 1;
+
+/* Subroutine */ int chkder_(integer *m, integer *n, doublereal *x, 
+	doublereal *fvec, doublereal *fjac, integer *ldfjac, doublereal *xp, 
+	doublereal *fvecp, integer *mode, doublereal *err)
+{
+    /* Initialized data */
+
+    static doublereal factor = 100.;
+    static doublereal one = 1.;
+    static doublereal zero = 0.;
+
+    /* System generated locals */
+    integer fjac_dim1, fjac_offset, i__1, i__2;
+    doublereal d__1, d__2, d__3, d__4, d__5;
+
+    /* Local variables */
+    static integer i__, j;
+    static doublereal eps, epsf, temp, epsmch;
+    extern doublereal dpmpar_(integer *);
+    static doublereal epslog;
+
+/*     ********** */
+
+/*     subroutine chkder */
+
+/*     this subroutine checks the gradients of m nonlinear functions */
+/*     in n variables, evaluated at a point x, for consistency with */
+/*     the functions themselves. the user must call chkder twice, */
+/*     first with mode = 1 and then with mode = 2. */
+
+/*     mode = 1. on input, x must contain the point of evaluation. */
+/*               on output, xp is set to a neighboring point. */
+
+/*     mode = 2. on input, fvec must contain the functions and the */
+/*                         rows of fjac must contain the gradients */
+/*                         of the respective functions each evaluated */
+/*                         at x, and fvecp must contain the functions */
+/*                         evaluated at xp. */
+/*               on output, err contains measures of correctness of */
+/*                          the respective gradients. */
+
+/*     the subroutine does not perform reliably if cancellation or */
+/*     rounding errors cause a severe loss of significance in the */
+/*     evaluation of a function. therefore, none of the components */
+/*     of x should be unusually small (in particular, zero) or any */
+/*     other value which may cause loss of significance. */
+
+/*     the subroutine statement is */
+
+/*       subroutine chkder(m,n,x,fvec,fjac,ldfjac,xp,fvecp,mode,err) */
+
+/*     where */
+
+/*       m is a positive integer input variable set to the number */
+/*         of functions. */
+
+/*       n is a positive integer input variable set to the number */
+/*         of variables. */
+
+/*       x is an input array of length n. */
+
+/*       fvec is an array of length m. on input when mode = 2, */
+/*         fvec must contain the functions evaluated at x. */
+
+/*       fjac is an m by n array. on input when mode = 2, */
+/*         the rows of fjac must contain the gradients of */
+/*         the respective functions evaluated at x. */
+
+/*       ldfjac is a positive integer input parameter not less than m */
+/*         which specifies the leading dimension of the array fjac. */
+
+/*       xp is an array of length n. on output when mode = 1, */
+/*         xp is set to a neighboring point of x. */
+
+/*       fvecp is an array of length m. on input when mode = 2, */
+/*         fvecp must contain the functions evaluated at xp. */
+
+/*       mode is an integer input variable set to 1 on the first call */
+/*         and 2 on the second. other values of mode are equivalent */
+/*         to mode = 1. */
+
+/*       err is an array of length m. on output when mode = 2, */
+/*         err contains measures of correctness of the respective */
+/*         gradients. if there is no severe loss of significance, */
+/*         then if err(i) is 1.0 the i-th gradient is correct, */
+/*         while if err(i) is 0.0 the i-th gradient is incorrect. */
+/*         for values of err between 0.0 and 1.0, the categorization */
+/*         is less certain. in general, a value of err(i) greater */
+/*         than 0.5 indicates that the i-th gradient is probably */
+/*         correct, while a value of err(i) less than 0.5 indicates */
+/*         that the i-th gradient is probably incorrect. */
+
+/*     subprograms called */
+
+/*       minpack supplied ... dpmpar */
+
+/*       fortran supplied ... dabs,dlog10,dsqrt */
+
+/*     argonne national laboratory. minpack project. march 1980. */
+/*     burton s. garbow, kenneth e. hillstrom, jorge j. more */
+
+/*     ********** */
+    /* Parameter adjustments */
+    --err;
+    --fvecp;
+    --fvec;
+    --xp;
+    --x;
+    fjac_dim1 = *ldfjac;
+    fjac_offset = 1 + fjac_dim1 * 1;
+    fjac -= fjac_offset;
+
+    /* Function Body */
+
+/*     epsmch is the machine precision. */
+
+    epsmch = dpmpar_(&c__1);
+
+    eps = sqrt(epsmch);
+
+    if (*mode == 2) {
+	goto L20;
+    }
+
+/*        mode = 1. */
+
+    i__1 = *n;
+    for (j = 1; j <= i__1; ++j) {
+	temp = eps * (d__1 = x[j], abs(d__1));
+	if (temp == zero) {
+	    temp = eps;
+	}
+	xp[j] = x[j] + temp;
+/* L10: */
+    }
+    goto L70;
+L20:
+
+/*        mode = 2. */
+
+    epsf = factor * epsmch;
+    epslog = log10e * log(eps);
+    i__1 = *m;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+	err[i__] = zero;
+/* L30: */
+    }
+    i__1 = *n;
+    for (j = 1; j <= i__1; ++j) {
+	temp = (d__1 = x[j], abs(d__1));
+	if (temp == zero) {
+	    temp = one;
+	}
+	i__2 = *m;
+	for (i__ = 1; i__ <= i__2; ++i__) {
+	    err[i__] += temp * fjac[i__ + j * fjac_dim1];
+/* L40: */
+	}
+/* L50: */
+    }
+    i__1 = *m;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+	temp = one;
+	if (fvec[i__] != zero && fvecp[i__] != zero && (d__2 = fvecp[i__] - 
+		fvec[i__], abs(d__2)) >= epsf * (d__1 = fvec[i__], abs(d__1)))
+		 {
+	    temp = eps * (d__3 = (fvecp[i__] - fvec[i__]) / eps - err[i__], 
+		    abs(d__3)) / ((d__4 = fvec[i__], abs(d__4)) + (d__5 = 
+		    fvecp[i__], abs(d__5)));
+	}
+	err[i__] = one;
+	if (temp > epsmch && temp < eps) {
+	    err[i__] = (log10e * log(temp) - epslog) / epslog;
+	}
+	if (temp >= eps) {
+	    err[i__] = zero;
+	}
+/* L60: */
+    }
+L70:
+
+    return 0;
+
+/*     last card of subroutine chkder. */
+
+} /* chkder_ */
+

doc/hybrd1_.3

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+.so man3/hybrd_.3