Bug: closing the control parameters file after successful read
removed ata ( ) in lsqadj.{c,h}
renamed ata_v2 into ata
added explanation and the test to check_lsqadj.c
removed atl ( ) renamed atl_v2 into atl ( )
added test_atl () to check_lsqadj.c
removed matinv (), renamed matinv_v2 into matinv () and added test_matinv ()
matmul is depreceated and replaced by matmul_v2 ()
Important to note that many routines were using matmul which is now a private case of matmul_v2 (which is renamed)
test added to check_lsqadj.c is showing the way to use the new matmul : add two integers at the end of the arguments, identical to the
first integers, i.e. set m_large == m and n_large == n
deprecated unused obsolete transp () and mat_transpose ()
changed tabs to spaces
changed the norm_cross from using 3 double scalars to a single double vector of 3 x 1
Update check_lsqadj.c

updated the initialization of b in test_ata to be consistent with the other tests, according to Yosef's comment
Merge pull request #30 from alexlib/lsqadj

Updated pull requrest of lsqadj.{c,h}
copied ray_tracing.{c,h}
removed modu, dot and norm_cross that moved to lsqadj.{c,h}
WARNING: change all the calls to ```ray_tracing_v2``` to ```ray_tracing```
removed ray_tracing function which is obsolete - instead ray_tracing_v2 is used everywhere
renamed ray_tracing_v2 into ray_tracing
changed ray_tracing to the new explicit arguments
updated ray_tracing.h
removed point_line_line function which used only in one place in pointpos.c but the calling function is not used anymore
added test_ray_tracing.c
added math.h and parameters.h to ray_tracing.h
fixed CMakeLists.txt
added epi.{c,h} from openptv-python/src_c
epi_line is obsolete - not used anymore
ray_tracing_v2 is now ray_tracing in epic
this work has to be postponed till we have: traffo.c, then imgcoord.c, multimed_nlay_v2, then epi.c
Merge branch 'epi' of https://github.com/alexlib/openptv into alexlib-epi