mirror of
https://github.com/opencv/opencv.git
synced 2025-01-06 10:18:12 +08:00
bae9cef0b5
Moving RGBD parts to 3d * files moved from rgbd module in contrib repo * header paths fixed * perf file added * lapack compilation fixed * Rodrigues fixed in tests * rgbd namespace removed * headers fixed * initial: rgbd files moved to 3d module * rgbd updated from latest contrib master; less file duplication * "std::" for sin(), cos(), etc. * KinFu family -> back to contrib * paths & namespaces * removed duplicates, file version updated * namespace kinfu removed from 3d module * forgot to move test_colored_kinfu.cpp to contrib * tests fixed: Params removed * kinfu namespace removed * it works without objc bindings * include headers fixed * tests: data paths fixed * headers moved to/from public API * Intr -> Matx33f in public API * from kinfu_frame.hpp to utils.hpp * submap: Intr -> Matx33f, HashTSDFVolume -> Volume; no extra headers * no RgbdFrame class, no Mat fields & arg -> InputArray & pImpl * get/setPyramidAt() instead of lots of methods * Mat -> InputArray, TMat * prepareFrameCache: refactored * FastICPOdometry: +truncate threshold, +depthFactor; Mat/UMat choose * Mat/UMat choose * minor stuff related to headers * (un)signed int warnings; compilation minor issues * minors: submap: pyramids -> OdometryFrame; tests fix; FastICP minor; CV_EXPORTS_W for kinfu_frame.hpp * FastICPOdometry: caching, rgbCameraMatrix * OdometryFrame: pyramid%s% -> pyramids[] * drop: rgbCameraMatrix from FastICP, RGB cache mode, makeColoredFrameFrom depth and all color-functions it calls * makeFrameFromDepth, buildPyramidPointsNormals -> from public to internal utils.hpp * minors * FastICPOdometry: caching updated, init fields * OdometryFrameImpl<UMat> fixed * matrix building fixed; minors * returning linemode back to contrib * params.pose is Mat now * precomp headers reorganized * minor fixes, header paths, extra header removed * minors: intrinsics -> utils.hpp; whitespaces; empty namespace; warning fixed * moving declarations from/to headers * internal headers reorganized (once again) * fix include * extra var fix * fix include, fix (un)singed warning * calibration.cpp: reverting back * headers fix * workaround to fix bindings * temporary removed wrappers * VolumeType -> VolumeParams * (temporarily) removing wrappers for Volume and VolumeParams * pyopencv_linemod -> contrib * try to fix test_rgbd.py * headers fixed * fixing wrappers for rgbd * fixing docs * fixing rgbdPlane * RgbdNormals wrapped * wrap Volume and VolumeParams, VolumeType from enum to int * DepthCleaner wrapped * header folder "rgbd" -> "3d" * fixing header path * VolumeParams referenced by Ptr to support Python wrappers * render...() fixed * Ptr<VolumeParams> fixed * makeVolume(... resolution -> [X, Y, Z]) * fixing static declaration * try to fix ios objc bindings * OdometryFrame::release...() removed * fix for Odometry algos not supporting UMats: prepareFrameCache<>() * preparePyramidMask(): fix to compile with TMat = UMat * fixing debug guards * removing references back; adding makeOdometryFrame() instead * fixing OpenCL ICP hanging (some threads exit before reaching the barrier -> the rest threads hang) * try to fix objc wrapper warnings; rerun builders * VolumeType -> VolumeKind * try to fix OCL bug * prints removed * indentation fixed * headers fixed * license fix * WillowGarage licence notion removed, since it's in OpenCV's COPYRIGHT already * KinFu license notion shortened * debugging code removed * include guards fixed * KinFu license left in contrib module * isValidDepth() moved to private header * indentation fix * indentation fix in src files * RgbdNormals rewritten to pImpl * minor * DepthCleaner removed due to low code quality, no depthScale provided, no depth images found to be successfully filtered; can be replaced by bilateral filtering * minors, indentation * no "private" in public headers * depthTo3d test moved from separate file * Normals: setDepth() is useless, removing it * RgbdPlane => findPlanes() * rescaleDepth(): minor * warpFrame: minor * minor TODO * all Odometries (except base abstract class) rewritten to pImpl * FastICPOdometry now supports maxRotation and maxTranslation * minor * Odometry's children: now checks are done in setters * get rid of protected members in Odometry class * get/set cameraMatrix, transformType, maxRot/Trans, iters, minGradients -> OdometryImpl * cameraMatrix: from double to float * matrix exponentiation: Eigen -> dual quaternions * Odometry evaluation fixed to reuse existing code * "small" macro fixed by undef * pixNorm is calculated on CPU only now (and then uploads on GPU) * test registration: no cvtest classes * test RgbdNormals and findPlanes(): no cvtest classes * test_rgbd.py: minor fix * tests for Odometry: no cvtest classes; UMat tests; logging fixed * more CV_OVERRIDE to overriden functions * fixing nondependent names to dependent * more to prev commit * forgotten fixes: overriden functions, (non)dependent names * FastICPOdometry: fix UMat support when OpenCL is off * try to fix compilation: missing namespaces * Odometry: static const-mimicking functions to internal constants * forgotten change to prev commit * more forgotten fixes * do not expose "submap.hpp" by default * in-class enums: give names, CamelCase, int=>enums; minors * namespaces, underscores, String * std::map is used by pose graph, adding it * compute()'s signature fixed, computeImpl()'s too * RgbdNormals: Mat -> InputArray * depth.hpp: Mat -> InputArray * cameraMatrix: Matx33f -> InputArray + default value + checks * "details" headers are not visible by default * TSDF tests: rearranging checks * cameraMatrix: no (realistic) default value * renderPointsNormals*(): no wrappers for them * debug: assert on empty frame in TSDF tests * debugging code for TSDF GPU * debug from integrate to raycast * no (non-zero) default camera matrix anymore * drop debugging code (does not help) * try to fix TSDF GPU: constant -> global const ptr
387 lines
14 KiB
C
387 lines
14 KiB
C
// this is auto-generated header for Lapack subset
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#ifndef __CLAPACK_H__
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#define __CLAPACK_H__
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#include "cblas.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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int cgemm_(char *transa, char *transb, int *m, int *n, int *
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k, lapack_complex *alpha, lapack_complex *a, int *lda, lapack_complex *b, int *ldb,
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lapack_complex *beta, lapack_complex *c__, int *ldc);
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int daxpy_(int *n, double *da, double *dx, int *incx, double
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*dy, int *incy);
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int dbdsdc_(char *uplo, char *compq, int *n, double *d__,
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double *e, double *u, int *ldu, double *vt, int *ldvt, double *q, int
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*iq, double *work, int *iwork, int *info);
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int dbdsqr_(char *uplo, int *n, int *ncvt, int *nru, int *
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ncc, double *d__, double *e, double *vt, int *ldvt, double *u, int *
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ldu, double *c__, int *ldc, double *work, int *info);
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int dcombssq_(double *v1, double *v2);
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int dcopy_(int *n, double *dx, int *incx, double *dy, int *
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incy);
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double ddot_(int *n, double *dx, int *incx, double *dy, int *incy);
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int dgebak_(char *job, char *side, int *n, int *ilo, int *
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ihi, double *scale, int *m, double *v, int *ldv, int *info);
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int dgebal_(char *job, int *n, double *a, int *lda, int *ilo,
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int *ihi, double *scale, int *info);
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int dgebd2_(int *m, int *n, double *a, int *lda, double *d__,
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double *e, double *tauq, double *taup, double *work, int *info);
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int dgebrd_(int *m, int *n, double *a, int *lda, double *d__,
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double *e, double *tauq, double *taup, double *work, int *lwork, int
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*info);
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int dgeev_(char *jobvl, char *jobvr, int *n, double *a, int *
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lda, double *wr, double *wi, double *vl, int *ldvl, double *vr, int *
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ldvr, double *work, int *lwork, int *info);
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int dgehd2_(int *n, int *ilo, int *ihi, double *a, int *lda,
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double *tau, double *work, int *info);
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int dgehrd_(int *n, int *ilo, int *ihi, double *a, int *lda,
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double *tau, double *work, int *lwork, int *info);
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int dgelq2_(int *m, int *n, double *a, int *lda, double *tau,
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double *work, int *info);
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int dgelqf_(int *m, int *n, double *a, int *lda, double *tau,
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double *work, int *lwork, int *info);
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int dgemm_(char *transa, char *transb, int *m, int *n, int *
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k, double *alpha, double *a, int *lda, double *b, int *ldb, double *
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beta, double *c__, int *ldc);
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int dgemv_(char *trans, int *m, int *n, double *alpha,
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double *a, int *lda, double *x, int *incx, double *beta, double *y,
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int *incy);
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int dgeqr2_(int *m, int *n, double *a, int *lda, double *tau,
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double *work, int *info);
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int dgeqrf_(int *m, int *n, double *a, int *lda, double *tau,
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double *work, int *lwork, int *info);
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int dger_(int *m, int *n, double *alpha, double *x, int *
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incx, double *y, int *incy, double *a, int *lda);
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int dgesdd_(char *jobz, int *m, int *n, double *a, int *lda,
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double *s, double *u, int *ldu, double *vt, int *ldvt, double *work,
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int *lwork, int *iwork, int *info);
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int dhseqr_(char *job, char *compz, int *n, int *ilo, int *
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ihi, double *h__, int *ldh, double *wr, double *wi, double *z__, int *
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ldz, double *work, int *lwork, int *info);
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int disnan_(double *din);
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// "small" is a macro defined in Windows headers: https://stackoverflow.com/a/27794577
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#ifdef small
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#undef small
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#endif
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int dlabad_(double *small, double *large);
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int dlabrd_(int *m, int *n, int *nb, double *a, int *lda,
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double *d__, double *e, double *tauq, double *taup, double *x, int *
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ldx, double *y, int *ldy);
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int dlacpy_(char *uplo, int *m, int *n, double *a, int *lda,
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double *b, int *ldb);
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int dladiv1_(double *a, double *b, double *c__, double *d__,
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double *p, double *q);
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double dladiv2_(double *a, double *b, double *c__, double *d__, double *r__,
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double *t);
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int dladiv_(double *a, double *b, double *c__, double *d__,
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double *p, double *q);
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int dlaed6_(int *kniter, int *orgati, double *rho, double *
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d__, double *z__, double *finit, double *tau, int *info);
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int dlaexc_(int *wantq, int *n, double *t, int *ldt, double *
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q, int *ldq, int *j1, int *n1, int *n2, double *work, int *info);
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int dlahqr_(int *wantt, int *wantz, int *n, int *ilo, int *
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ihi, double *h__, int *ldh, double *wr, double *wi, int *iloz, int *
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ihiz, double *z__, int *ldz, int *info);
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int dlahr2_(int *n, int *k, int *nb, double *a, int *lda,
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double *tau, double *t, int *ldt, double *y, int *ldy);
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int dlaisnan_(double *din1, double *din2);
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int dlaln2_(int *ltrans, int *na, int *nw, double *smin,
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double *ca, double *a, int *lda, double *d1, double *d2, double *b,
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int *ldb, double *wr, double *wi, double *x, int *ldx, double *scale,
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double *xnorm, int *info);
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int dlamrg_(int *n1, int *n2, double *a, int *dtrd1, int *
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dtrd2, int *index);
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double dlange_(char *norm, int *m, int *n, double *a, int *lda, double *work);
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double dlanst_(char *norm, int *n, double *d__, double *e);
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int dlanv2_(double *a, double *b, double *c__, double *d__,
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double *rt1r, double *rt1i, double *rt2r, double *rt2i, double *cs,
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double *sn);
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double dlapy2_(double *x, double *y);
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int dlaqr0_(int *wantt, int *wantz, int *n, int *ilo, int *
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ihi, double *h__, int *ldh, double *wr, double *wi, int *iloz, int *
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ihiz, double *z__, int *ldz, double *work, int *lwork, int *info);
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int dlaqr1_(int *n, double *h__, int *ldh, double *sr1,
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double *si1, double *sr2, double *si2, double *v);
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int dlaqr2_(int *wantt, int *wantz, int *n, int *ktop, int *
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kbot, int *nw, double *h__, int *ldh, int *iloz, int *ihiz, double *
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z__, int *ldz, int *ns, int *nd, double *sr, double *si, double *v,
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int *ldv, int *nh, double *t, int *ldt, int *nv, double *wv, int *
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ldwv, double *work, int *lwork);
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int dlaqr3_(int *wantt, int *wantz, int *n, int *ktop, int *
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kbot, int *nw, double *h__, int *ldh, int *iloz, int *ihiz, double *
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z__, int *ldz, int *ns, int *nd, double *sr, double *si, double *v,
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int *ldv, int *nh, double *t, int *ldt, int *nv, double *wv, int *
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ldwv, double *work, int *lwork);
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int dlaqr4_(int *wantt, int *wantz, int *n, int *ilo, int *
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ihi, double *h__, int *ldh, double *wr, double *wi, int *iloz, int *
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ihiz, double *z__, int *ldz, double *work, int *lwork, int *info);
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int dlaqr5_(int *wantt, int *wantz, int *kacc22, int *n, int
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*ktop, int *kbot, int *nshfts, double *sr, double *si, double *h__,
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int *ldh, int *iloz, int *ihiz, double *z__, int *ldz, double *v, int
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*ldv, double *u, int *ldu, int *nv, double *wv, int *ldwv, int *nh,
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double *wh, int *ldwh);
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int dlarf_(char *side, int *m, int *n, double *v, int *incv,
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double *tau, double *c__, int *ldc, double *work);
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int dlarfb_(char *side, char *trans, char *direct, char *
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storev, int *m, int *n, int *k, double *v, int *ldv, double *t, int *
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ldt, double *c__, int *ldc, double *work, int *ldwork);
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int dlarfg_(int *n, double *alpha, double *x, int *incx,
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double *tau);
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int dlarft_(char *direct, char *storev, int *n, int *k,
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double *v, int *ldv, double *tau, double *t, int *ldt);
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int dlarfx_(char *side, int *m, int *n, double *v, double *
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tau, double *c__, int *ldc, double *work);
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int dlartg_(double *f, double *g, double *cs, double *sn,
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double *r__);
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int dlas2_(double *f, double *g, double *h__, double *ssmin,
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double *ssmax);
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int dlascl_(char *type__, int *kl, int *ku, double *cfrom,
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double *cto, int *m, int *n, double *a, int *lda, int *info);
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int dlasd0_(int *n, int *sqre, double *d__, double *e,
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double *u, int *ldu, double *vt, int *ldvt, int *smlsiz, int *iwork,
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double *work, int *info);
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int dlasd1_(int *nl, int *nr, int *sqre, double *d__, double
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*alpha, double *beta, double *u, int *ldu, double *vt, int *ldvt, int
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*idxq, int *iwork, double *work, int *info);
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int dlasd2_(int *nl, int *nr, int *sqre, int *k, double *d__,
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double *z__, double *alpha, double *beta, double *u, int *ldu,
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double *vt, int *ldvt, double *dsigma, double *u2, int *ldu2, double *
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vt2, int *ldvt2, int *idxp, int *idx, int *idxc, int *idxq, int *
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coltyp, int *info);
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int dlasd3_(int *nl, int *nr, int *sqre, int *k, double *d__,
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double *q, int *ldq, double *dsigma, double *u, int *ldu, double *u2,
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int *ldu2, double *vt, int *ldvt, double *vt2, int *ldvt2, int *idxc,
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int *ctot, double *z__, int *info);
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int dlasd4_(int *n, int *i__, double *d__, double *z__,
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double *delta, double *rho, double *sigma, double *work, int *info);
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int dlasd5_(int *i__, double *d__, double *z__, double *
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delta, double *rho, double *dsigma, double *work);
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int dlasd6_(int *icompq, int *nl, int *nr, int *sqre, double
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*d__, double *vf, double *vl, double *alpha, double *beta, int *idxq,
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int *perm, int *givptr, int *givcol, int *ldgcol, double *givnum, int
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*ldgnum, double *poles, double *difl, double *difr, double *z__, int *
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k, double *c__, double *s, double *work, int *iwork, int *info);
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int dlasd7_(int *icompq, int *nl, int *nr, int *sqre, int *k,
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double *d__, double *z__, double *zw, double *vf, double *vfw,
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double *vl, double *vlw, double *alpha, double *beta, double *dsigma,
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int *idx, int *idxp, int *idxq, int *perm, int *givptr, int *givcol,
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int *ldgcol, double *givnum, int *ldgnum, double *c__, double *s, int
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*info);
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int dlasd8_(int *icompq, int *k, double *d__, double *z__,
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double *vf, double *vl, double *difl, double *difr, int *lddifr,
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double *dsigma, double *work, int *info);
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int dlasda_(int *icompq, int *smlsiz, int *n, int *sqre,
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double *d__, double *e, double *u, int *ldu, double *vt, int *k,
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double *difl, double *difr, double *z__, double *poles, int *givptr,
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int *givcol, int *ldgcol, int *perm, double *givnum, double *c__,
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double *s, double *work, int *iwork, int *info);
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int dlasdq_(char *uplo, int *sqre, int *n, int *ncvt, int *
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nru, int *ncc, double *d__, double *e, double *vt, int *ldvt, double *
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u, int *ldu, double *c__, int *ldc, double *work, int *info);
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int dlasdt_(int *n, int *lvl, int *nd, int *inode, int *
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ndiml, int *ndimr, int *msub);
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int dlaset_(char *uplo, int *m, int *n, double *alpha,
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double *beta, double *a, int *lda);
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int dlasq1_(int *n, double *d__, double *e, double *work,
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int *info);
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int dlasq2_(int *n, double *z__, int *info);
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int dlasq3_(int *i0, int *n0, double *z__, int *pp, double *
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dmin__, double *sigma, double *desig, double *qmax, int *nfail, int *
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iter, int *ndiv, int *ieee, int *ttype, double *dmin1, double *dmin2,
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double *dn, double *dn1, double *dn2, double *g, double *tau);
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int dlasq4_(int *i0, int *n0, double *z__, int *pp, int *
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n0in, double *dmin__, double *dmin1, double *dmin2, double *dn,
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double *dn1, double *dn2, double *tau, int *ttype, double *g);
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int dlasq5_(int *i0, int *n0, double *z__, int *pp, double *
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tau, double *sigma, double *dmin__, double *dmin1, double *dmin2,
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double *dn, double *dnm1, double *dnm2, int *ieee, double *eps);
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int dlasq6_(int *i0, int *n0, double *z__, int *pp, double *
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dmin__, double *dmin1, double *dmin2, double *dn, double *dnm1,
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double *dnm2);
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int dlasr_(char *side, char *pivot, char *direct, int *m,
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int *n, double *c__, double *s, double *a, int *lda);
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int dlasrt_(char *id, int *n, double *d__, int *info);
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int dlassq_(int *n, double *x, int *incx, double *scale,
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double *sumsq);
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int dlasv2_(double *f, double *g, double *h__, double *ssmin,
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double *ssmax, double *snr, double *csr, double *snl, double *csl);
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int dlasy2_(int *ltranl, int *ltranr, int *isgn, int *n1,
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int *n2, double *tl, int *ldtl, double *tr, int *ldtr, double *b, int
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*ldb, double *scale, double *x, int *ldx, double *xnorm, int *info);
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double dnrm2_(int *n, double *x, int *incx);
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int dorg2r_(int *m, int *n, int *k, double *a, int *lda,
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double *tau, double *work, int *info);
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int dorgbr_(char *vect, int *m, int *n, int *k, double *a,
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int *lda, double *tau, double *work, int *lwork, int *info);
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int dorghr_(int *n, int *ilo, int *ihi, double *a, int *lda,
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double *tau, double *work, int *lwork, int *info);
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int dorgl2_(int *m, int *n, int *k, double *a, int *lda,
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double *tau, double *work, int *info);
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int dorglq_(int *m, int *n, int *k, double *a, int *lda,
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double *tau, double *work, int *lwork, int *info);
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int dorgqr_(int *m, int *n, int *k, double *a, int *lda,
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double *tau, double *work, int *lwork, int *info);
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int dorm2r_(char *side, char *trans, int *m, int *n, int *k,
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double *a, int *lda, double *tau, double *c__, int *ldc, double *work,
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int *info);
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int dormbr_(char *vect, char *side, char *trans, int *m, int
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*n, int *k, double *a, int *lda, double *tau, double *c__, int *ldc,
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double *work, int *lwork, int *info);
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int dormhr_(char *side, char *trans, int *m, int *n, int *
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ilo, int *ihi, double *a, int *lda, double *tau, double *c__, int *
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ldc, double *work, int *lwork, int *info);
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int dorml2_(char *side, char *trans, int *m, int *n, int *k,
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double *a, int *lda, double *tau, double *c__, int *ldc, double *work,
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int *info);
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int dormlq_(char *side, char *trans, int *m, int *n, int *k,
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double *a, int *lda, double *tau, double *c__, int *ldc, double *work,
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int *lwork, int *info);
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int dormqr_(char *side, char *trans, int *m, int *n, int *k,
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double *a, int *lda, double *tau, double *c__, int *ldc, double *work,
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int *lwork, int *info);
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int drot_(int *n, double *dx, int *incx, double *dy, int *
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incy, double *c__, double *s);
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int dscal_(int *n, double *da, double *dx, int *incx);
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int dswap_(int *n, double *dx, int *incx, double *dy, int *
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incy);
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int dtrevc3_(char *side, char *howmny, int *select, int *n,
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double *t, int *ldt, double *vl, int *ldvl, double *vr, int *ldvr,
|
|
int *mm, int *m, double *work, int *lwork, int *info);
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int dtrexc_(char *compq, int *n, double *t, int *ldt, double
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*q, int *ldq, int *ifst, int *ilst, double *work, int *info);
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int dtrmm_(char *side, char *uplo, char *transa, char *diag,
|
|
int *m, int *n, double *alpha, double *a, int *lda, double *b, int *
|
|
ldb);
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int dtrmv_(char *uplo, char *trans, char *diag, int *n,
|
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double *a, int *lda, double *x, int *incx);
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int idamax_(int *n, double *dx, int *incx);
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|
|
int ieeeck_(int *ispec, float *zero, float *one);
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|
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int iladlc_(int *m, int *n, double *a, int *lda);
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|
|
|
int iladlr_(int *m, int *n, double *a, int *lda);
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|
|
|
int ilaenv_(int *ispec, char *name__, char *opts, int *n1, int *n2, int *n3,
|
|
int *n4);
|
|
|
|
int iparmq_(int *ispec, char *name__, char *opts, int *n, int *ilo, int *ihi,
|
|
int *lwork);
|
|
|
|
int sgemm_(char *transa, char *transb, int *m, int *n, int *
|
|
k, float *alpha, float *a, int *lda, float *b, int *ldb, float *beta,
|
|
float *c__, int *ldc);
|
|
|
|
int zgemm_(char *transa, char *transb, int *m, int *n, int *
|
|
k, lapack_doublecomplex *alpha, lapack_doublecomplex *a, int *lda, lapack_doublecomplex *b,
|
|
int *ldb, lapack_doublecomplex *beta, lapack_doublecomplex *c__, int *ldc);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif
|