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88 lines
2.5 KiB
C
88 lines
2.5 KiB
C
/////////////////////////////////////////////////////////////////////////////////
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//
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// Levenberg - Marquardt non-linear minimization algorithm
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// Copyright (C) 2004-05 Manolis Lourakis (lourakis at ics forth gr)
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// Institute of Computer Science, Foundation for Research & Technology - Hellas
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// Heraklion, Crete, Greece.
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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/////////////////////////////////////////////////////////////////////////////////
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/********************************************************************************
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* Box-constrained Levenberg-Marquardt nonlinear minimization. The same core code
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* is used with appropriate #defines to derive single and double precision versions,
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* see also lmbc_core.c
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********************************************************************************/
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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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#include <float.h>
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#include "levmar.h"
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#include "compiler.h"
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#include "misc.h"
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#define EPSILON 1E-12
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#define ONE_THIRD 0.3333333334 /* 1.0/3.0 */
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#define _LSITMAX_ 150 /* max #iterations for line search */
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#define _POW_ 2.1
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#if !defined(LM_DBL_PREC) && !defined(LM_SNGL_PREC)
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#error At least one of LM_DBL_PREC, LM_SNGL_PREC should be defined!
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#endif
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#ifdef LM_SNGL_PREC
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/* single precision (float) definitions */
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#define LM_REAL float
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#define LM_PREFIX s
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#define LM_REAL_MAX FLT_MAX
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#define LM_REAL_MIN -FLT_MAX
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#define LM_REAL_EPSILON FLT_EPSILON
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#define __SUBCNST(x) x##F
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#define LM_CNST(x) __SUBCNST(x) // force substitution
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#include "lmbc_core.c" // read in core code
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#undef LM_REAL
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#undef LM_PREFIX
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#undef LM_REAL_MAX
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#undef LM_REAL_MIN
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#undef LM_REAL_EPSILON
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#undef __SUBCNST
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#undef LM_CNST
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#endif /* LM_SNGL_PREC */
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#ifdef LM_DBL_PREC
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/* double precision definitions */
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#define LM_REAL double
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#define LM_PREFIX d
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#define LM_REAL_MAX DBL_MAX
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#define LM_REAL_MIN -DBL_MAX
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#define LM_REAL_EPSILON DBL_EPSILON
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#define LM_CNST(x) (x)
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#include "lmbc_core.c" // read in core code
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#undef LM_REAL
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#undef LM_PREFIX
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#undef LM_REAL_MAX
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#undef LM_REAL_MIN
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#undef LM_REAL_EPSILON
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#undef LM_CNST
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#endif /* LM_DBL_PREC */
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