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基于LM的双目图像校准算法源码第一部分_双目视觉lm算法

作者：寸_铁 | 2024-07-25 18:28:48

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双目视觉lm算法

这里写自定义目录标题


基于LM的双目图像校准算法源码
代码中调用的部分函数已作为资源上传，这个代码仅供咱们学习讨论使用，如果需要工程使用，需要进一步优化。这是多年前写得代码，不足之处请批评指正。 

float rotate[9];
float distTwoPoint(vect2f_t a,vect2f_t b)
{
	return sqrt((a.x - b.x) * (a.x - b.x) + (a.y - b.y) * (a.y - b.y));
}
int mvGetPointIndex(vect2f_t *src,int nPoint,int *index,float stepx,float stepy,int isLimit)
{
	float thet0 = PI/2,thet1 = -PI/2;
	float min = 4000;
	float initDist,dist;
	vect2f_t nearpoint0,nearpoint1;
	int i;

	while(1)
	{
		index[0] = rand()%nPoint;
		index[1] = rand()%nPoint;
		if(fabs(src[index[0]].x) > (stepx * HOMOGRAPHY_RANGE_POINT_NUM) || fabs(src[index[0]].y) > (stepy * HOMOGRAPHY_RANGE_POINT_NUM)
			|| fabs(src[index[1]].x) > (stepx * HOMOGRAPHY_RANGE_POINT_NUM) || fabs(src[index[1]].y) > (stepy * HOMOGRAPHY_RANGE_POINT_NUM))
		{
			if(isLimit)
				continue;
		}
		initDist = distTwoPoint(src[index[0]],src[index[1]]);
		if(initDist > 10.0f && initDist < 70.0f)
			break;
	}
	//index[0] = 0;
	//index[1] = 2;
	nearpoint0.x = -(src[index[1]].y - src[index[0]].y)*sin(thet0) + src[index[0]].x;
	nearpoint0.y = (src[index[1]].x - src[index[0]].x)*sin(thet0) + src[index[0]].y;
	nearpoint1.x = -(src[index[1]].y - src[index[0]].y)*sin(thet1) + src[index[0]].x;
	nearpoint1.y = (src[index[1]].x - src[index[0]].x)*sin(thet1) + src[index[0]].y;
	for( i = 0; i < nPoint; ++i )
	{
		if(i == index[0] || i == index[1])
			continue;

		dist = distTwoPoint(src[i],nearpoint0);
		if(min > dist)
		{
			index[2] = i;
			min = dist;
		}
		dist = distTwoPoint(src[i],nearpoint1);
		if(min > dist)
		{
			index[2] = i;
			min = dist;
		}
	}
	nearpoint0.x = -(src[index[0]].y - src[index[2]].y)*sin(thet0) + src[index[2]].x;
	nearpoint0.y = (src[index[0]].x - src[index[2]].x)*sin(thet0) + src[index[2]].y;
	nearpoint1.x = -(src[index[0]].y - src[index[2]].y)*sin(thet1) + src[index[2]].x;
	nearpoint1.y = (src[index[0]].x - src[index[2]].x)*sin(thet1) + src[index[2]].y;
	min = 4000;
	for( i = 0; i < nPoint; ++i )
	{
		if(i == index[0] || i == index[1]|| i == index[2])
			continue;

		dist = distTwoPoint(src[i],nearpoint0);
		if(min > dist)
		{
			index[3] = i;
			min = dist;
		}
		dist = distTwoPoint(src[i],nearpoint1);
		if(min > dist)
		{
			index[3] = i;
			min = dist;
		}
	}
	dist = distTwoPoint(src[index[0]],src[index[1]]);
	//printf("%f ",dist);
	if(dist < 10.0f || dist > 110.0f)
		return 0;
	dist = distTwoPoint(src[index[1]],src[index[2]]);
	//printf("%f ",dist);
	if(dist < 1.0f|| dist > 110.0f)
		return 0;
	dist = distTwoPoint(src[index[2]],src[index[3]]);
	//printf("%f ",dist);
	if(dist < 1.0f|| dist > 110.0f)
		return 0;
	dist = distTwoPoint(src[index[0]],src[index[2]]);
	//printf("%f ",dist);
	if(dist < 1.0f || dist > 110.0f)
		return 0;
	dist = distTwoPoint(src[index[3]],src[index[1]]);
	//printf("%f ",dist);
	if(dist < 1.0f || dist > 110.0f)
		return 0;
	dist = distTwoPoint(src[index[0]],src[index[3]]);
	//printf("%f\n",dist);
	if(dist < 1.0f || dist > 110.0f)
		return 0;
	return 1;
	
}

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float getErrHomography(vect2f_t *src,vect2f_t *dst,float *R,int nPoint,float stepx,float stepy)
{
	int j;
	float errSum = 0.0f;
	float x1,y1;
	int count = 0;
	for(j = 0;j < nPoint;j++)
	{
		if(fabs(src[j].x) > (stepx * HOMOGRAPHY_RANGE_POINT_NUM) || fabs(src[j].y) > (stepy * HOMOGRAPHY_RANGE_POINT_NUM))
		{
			continue;
		}
		x1 = (R[0] * src[j].x + R[1] * src[j].y + R[2])/(R[6] * src[j].x + R[7] * src[j].y + R[8]);
		y1 = (R[3] * src[j].x + R[4] * src[j].y + R[5])/(R[6] * src[j].x + R[7] * src[j].y + R[8]);

		errSum += fabs(x1 - dst[j].x);
		errSum += fabs(y1 - dst[j].y);
		count++;
	}
	errSum = errSum/(2.0f *count);

	return errSum;
}
int mvFindHomographyProj2Img(vect2f_t *src,vect2f_t *dst,float *R,int nPoint,
	float stepx,float stepy,int iterations)
{
	CvMat _J,_B,_JtJiJtB;
	
	float J[8][8],eB[8],JtJiJtB[8],filterJtJiJtB[8],Rf[9];
	memset(R,0,32);

	double a[8][8];
    double b[8], x[9];

    CvMat A = cvMat( 8, 8, CV_64FC1, a );
    CvMat B = cvMat( 8, 1, CV_64FC1, b );
    CvMat X = cvMat( 8, 1, CV_64FC1, x );

    int i,j,k;
	int index[4];

	float errSum = 0.0f,minErr = 10000.0f;
	
	memset(filterJtJiJtB,0,32);
	for(k = 0;k < 2000;k++)
	{
		if(0 == mvGetPointIndex(src,nPoint,index,stepx,stepy,1))
			continue;

	    for( i = 0; i < 4; ++i )
	    {
			a[i + 0][0] = src[index[i]].x;
			a[i + 0][1] = src[index[i]].y;
			a[i + 0][2] = 1;
			a[i + 0][3] = 0;
			a[i + 0][4] = 0;
			a[i + 0][5] = 0;
			a[i + 0][6] = -dst[index[i]].x * src[index[i]].x;
			a[i + 0][7] = -dst[index[i]].x * src[index[i]].y;

			a[i + 4][0] = 0;
			a[i + 4][1] = 0;
			a[i + 4][2] = 0;
			a[i + 4][3] = src[index[i]].x;
			a[i + 4][4] = src[index[i]].y;
			a[i + 4][5] = 1;
			a[i + 4][6] = -dst[index[i]].y * src[index[i]].x;
			a[i + 4][7] = -dst[index[i]].y * src[index[i]].y;
			b[i + 0] = dst[index[i]].x;
	        b[i + 4] = dst[index[i]].y;
	    }
		

	    cvSolve( &A, &B, &X, CV_SVD );
	    x[8] = 1;
		
		for(i = 0;i < 9;i++)
		{
			Rf[i] = (float)x[i];
		}
		errSum = getErrHomography(src,dst,Rf,nPoint,stepx,stepy);
		if(errSum < 0.01f)
		{
			minErr = errSum;
			for(i = 0;i < 9;i++)
			{
				R[i] = (float)x[i];
			}
			break;
		}
		if(minErr > errSum)
		{
			for(i = 0;i < 9;i++)
			{
				R[i] = (float)x[i];
			}
			minErr = errSum;
		}
		/*
		printf("%f %f %f\n",x[0],x[1],x[2]);
		printf("%f %f %f\n",x[3],x[4],x[5]);
		printf("%f %f %f\n",x[6],x[7],x[8]);
		printf("\n");
		*/
	}
	errSum = minErr;
	if(errSum > 1.0f)
		return 0;
	
	for(k = 0;k < iterations;k++)
	{
		vect2f_t _dstCalc;
		
		if(0 == mvGetPointIndex(src,nPoint,index,stepx,stepy,1))
			continue;
		
		for( i = 0; i < 4; ++i )
	    {
			_dstCalc.x = (R[0] * src[index[i]].x + R[1] * src[index[i]].y + R[2])/(R[6] * src[index[i]].x + R[7] * src[index[i]].y + R[8]);
			_dstCalc.y = (R[3] * src[index[i]].x + R[4] * src[index[i]].y + R[5])/(R[6] * src[index[i]].x + R[7] * src[index[i]].y + R[8]);
			J[i + 0][0] = src[index[i]].x;
			J[i + 0][1] = src[index[i]].y;
			J[i + 0][2] = 1;
			J[i + 0][3] = 0;
			J[i + 0][4] = 0;
			J[i + 0][5] = 0;
			J[i + 0][6] = -dst[index[i]].x * src[index[i]].x;
			J[i + 0][7] = -dst[index[i]].x * src[index[i]].y;

			J[i + 4][0] = 0;
			J[i + 4][1] = 0;
			J[i + 4][2] = 0;
			J[i + 4][3] = src[index[i]].x;
			J[i + 4][4] = src[index[i]].y;
			J[i + 4][5] = 1;
			J[i + 4][6] = -dst[index[i]].y * src[index[i]].x;
			J[i + 4][7] = -dst[index[i]].y * src[index[i]].y;
			eB[i + 0] = _dstCalc.x - dst[index[i]].x;
	        eB[i + 4] = _dstCalc.y - dst[index[i]].y;
			b[i + 0] = dst[index[i]].x;
	        b[i + 4] = dst[index[i]].y;
	    }
		for(i = 0;i <8;i++)
		{
			for(j = 0;j < 8;j++)
			{
				a[i][j] = (double)J[i][j];
			}
		}
		cvSolve( &A, &B, &X, CV_SVD );
		float errSum1 = 0.0f; 
		for(i = 0;i < 9;i++)
		{
			Rf[i] = (float)x[i];
		}
		errSum1 = getErrHomography(src,dst,Rf,nPoint,stepx,stepy);
		if(errSum1 > 0.001f)
		{
			continue;
		}
		_J = cvMat(8, 8, CV_32FC1, (float *)&J[0][0]);
		_JtJiJtB = cvMat(8, 1, CV_32FC1,(float *)&JtJiJtB[0]);	

		_B = cvMat(8, 1, CV_32FC1, (float *)&eB[0]);
		
		cvSolve( &_J, &_B, &_JtJiJtB, CV_SVD );
		//cvSolve(&_JtJ,&_JtB,&_JtJiJtB,CV_SVD);
		//mvMatrixMutl(&JtJi[0][0],8,8,JtB,1,JtJiJtB);
		float Rtemp[9],JtJiJtBTemp[9];
		for(j = 0;j < 9;j++)
		{
			JtJiJtBTemp[j] = filterJtJiJtB[j];
			Rtemp[j] = R[j];
			filterJtJiJtB[j] = 0.9f * filterJtJiJtB[j] + 0.1f * JtJiJtB[j];
			R[j] -= filterJtJiJtB[j];
		}

		float errSum2 = 0.0f;
		errSum2 = getErrHomography(src,dst,R,nPoint,stepx,stepy);
		if(errSum2 > errSum)
		{
			for(j = 0;j < 9;j++)
			{
				R[j] = Rtemp[j];
				filterJtJiJtB[j] = JtJiJtBTemp[j];
			}
		}
		errSum2 = getErrHomography(src,dst,R,nPoint,stepx,stepy);
		if(errSum2 < 0.1f)
		{
			break;
		}
	}
	R[8] = 1.0f;
	return 1;
}
float gR[20][3][3];
void mvInitCalibCameraPointTest(const vect2f_t* objectPoints,
                  const vect2f_t* imagePoints, int width,int hight,float stepx,float stepy,int imageCnt)
{
	int i,j,k;
	vect2f_t *pObjPoint = (vect2f_t *)objectPoints,*pImgPoint = (vect2f_t *)imagePoints;
	vect3f_t *rotate3dAngle = (vect3f_t *)malloc(imageCnt * sizeof(vect3f_t));
	vect3f_t *translation3d = (vect3f_t *)malloc(imageCnt * sizeof(vect3f_t));
	float R[3][3];
	float k1 = 0.010245f;
	float k2 = 0.001011245f;
	float fx = 122.0f,fy = 122.0f;
	float cx = 150.0f,cy = 50.0f;
	float lamder = 1.0f,err = 0.0f;
	float x,y,x1,y1,x2,y2,x3,y3;
	
	srand((unsigned) time(NULL)); 
	//cx = (float)(rand() % 200);
	//cy = (float)(rand() % 200);
	//printf("fx,fy,cx,cy = %f,%f,%f,%f\n\n",fx,fy,cx,cy);
	for(i = 0;i < imageCnt;i++)
	{
		rotate3dAngle[i].x = ((float)(rand() % 90) - 45.0f) * PI/180.0f;
		rotate3dAngle[i].y = ((float)(rand() % 90) - 45.0f) * PI/180.0f;
		rotate3dAngle[i].z = ((float)(rand() % 90) - 45.0f) * PI/180.0f;
		translation3d[i].x = (float)(rand() % 201);
		translation3d[i].y = (float)(rand() % 201);
		translation3d[i].z = (float)(400 + (rand() % 100));//(float)(rand() % 51);
		//printf("z init = %f\n",translation3d[i].z);
	}
	
	for(i = 0;i < imageCnt;i++)
	{
		float aerf,belt,garmer;
		aerf = rotate3dAngle[i].z;
		belt = rotate3dAngle[i].x;
		garmer = rotate3dAngle[i].y;
		R[0][0] = cos(aerf) * cos(belt);
		R[0][1] = cos(aerf) * sin(belt)* sin(garmer) - sin(aerf) * cos(garmer);
		R[0][2] = cos(aerf) * sin(belt)* cos(garmer) + sin(aerf) * sin(garmer);
		R[1][0] = sin(aerf) * cos(belt);
		R[1][1] = sin(aerf) * sin(belt)* sin(garmer) + cos(aerf) * cos(garmer);
		R[1][2] = sin(aerf) * sin(belt)* cos(garmer) - cos(aerf) * sin(garmer);
		R[2][0] = -sin(belt);
		R[2][1] = sin(garmer) * cos(belt);
		R[2][2] = cos(garmer) * cos(belt);
#if 0
		H[0][0] = fx * R[0][0] + cx * R[2][0];
		H[0][1] = fx * R[0][1] + cx * R[2][1];
		H[0][2] = fx * R[0][2] + cx * R[2][2];
		H[0][3] = fx * translation3d[i].x + cx * translation3d[i].z;

		H[1][0] = fy * R[1][0] + cy * R[2][0];
		H[1][1] = fy * R[1][1] + cy * R[2][1];
		H[1][2] = fy * R[1][2] + cy * R[2][2];
		H[1][3] = fy * translation3d[i].y + cx * translation3d[i].z;

		H[2][0] = R[2][0];
		H[2][1] = R[2][1];
		H[2][2] = R[2][2];
		H[2][3] = translation3d[i].z;

		//printf("%f ",R[0][0] * R[0][0] + R[1][0] * R[1][0] + R[2][0] * R[2][0]);
		//printf("%f ",R[0][1] * R[0][1] + R[1][1] * R[1][1] + R[2][1] * R[2][1]);
		//printf("%f\n",R[0][2] * R[0][2] + R[1][2] * R[1][2] + R[2][2] * R[2][2]);
		
		R[0][0] = H[0][0];
		R[0][1] = H[0][1];
		R[0][2] = H[0][3];
		R[1][0] = H[1][0];
		R[1][1] = H[1][1];
		R[1][2] = H[1][3];
		R[2][0] = H[2][0];
		R[2][1] = H[2][1];
		R[2][2] = H[2][3];

		gR[i][0][0] = H[0][0];
		gR[i][0][1] = H[0][1];
		gR[i][0][2] = H[0][3];
		gR[i][1][0] = H[1][0];
		gR[i][1][1] = H[1][1];
		gR[i][1][2] = H[1][3];
		gR[i][2][0] = H[2][0];
		gR[i][2][1] = H[2][1];
		gR[i][2][2] = H[2][3];
#else
		gR[i][0][0] = (float)(fx * R[0][0] + cx * R[2][0]);
		gR[i][0][1] = (float)(fx * R[0][1] + cx * R[2][1]);
		gR[i][0][2] = (float)(fx * translation3d[i].x + cx * translation3d[i].z);
		gR[i][1][0] = (float)(fy * R[1][0] + cy * R[2][0]);
		gR[i][1][1] = (float)(fy * R[1][1] + cy * R[2][1]);
		gR[i][1][2] = (float)(fy * translation3d[i].y + cx * translation3d[i].z);
		gR[i][2][0] = (float)R[2][0];
		gR[i][2][1] = (float)R[2][1];
		gR[i][2][2] = (float)(translation3d[i].z);

		R[0][2] = translation3d[i].x;
		R[1][2] = translation3d[i].y;
		R[2][2] = translation3d[i].z;
#endif

		for(j = 0;j < hight;j++)
		{
			for(k = 0;k < width;k++)
			{
				pObjPoint[j * width + k].x = stepx * (k + 1);
				pObjPoint[j * width + k].y = stepy * (j + 1);

				x = stepx * (k + 1);
				y = stepy * (j + 1);

				x1 =  (R[0][0] * x + R[0][1] * y + R[0][2])/(R[2][0] * x + R[2][1] * y + R[2][2]);
				y1 =  (R[1][0] * x + R[1][1] * y + R[1][2])/(R[2][0] * x + R[2][1] * y + R[2][2]);
				
				double x2y2square = x1 * x1 + y1 * y1;
				double square2 = x2y2square * x2y2square;
				double square3 = x2y2square * x2y2square * x2y2square;
				double square4 = x2y2square * x2y2square * x2y2square * x2y2square;
				double scalek1 = k1 * square2;
				double scalek2 = k2 * square4;
				
				x2 = x1 * (1 + k1 * (float)square2 + k2 * (float)square4);
				y2 = y1 * (1 + k1 * (float)square2 + k2 * (float)square4);
				
				x3 = fx * x2 + cx;
				y3 = fy * y2 + cy;

				pImgPoint[(j) * width + k].x = (float)x3;
				pImgPoint[(j) * width + k].y = (float)y3;
				
			}
			 
		}
		//float estR[9];
		//mvFindHomography(pObjPoint,pImgPoint,estR,(width - 1) * (hight - 1),200);
		//printf("%f %f %f\n",estR[0],estR[1],estR[2]);
		//printf("%f %f %f\n",estR[3],estR[4],estR[5]);
		//printf("%f %f %f\n",estR[6],estR[7],estR[8]);
		//printf("\n\n");
		pObjPoint += width * hight;
		pImgPoint += width * hight;
		
	}
}

int mvCalibCameraParams(const vect2f_t* objectPoints,
                  const vect2f_t* imagePoints, int width,int hight,int imageCnt,float stepx,float stepy,
                  matrix_t* A)
{
	int hcount = 0;
	int i,j,k,m,n,p;
	int homographyCnt = width * hight;
	float mHt[3][3],**gHt;
	vect2f_t *pObjPoint = 0,*pImgPoint = 0;
	double h11,h12,h13,h21,h22,h23;
	double err = 0.0f;
	float fx = 0.0f,fy = 0.0f,cx = 0.0f,cy = 0.0f;
	float maxPoint = 0.0f,minPoint = 100000.0f;
	float *x0Param = (float *)malloc((imageCnt * imageCnt * imageCnt * imageCnt * imageCnt) * sizeof(float));
	float *x1Param = (float *)malloc((imageCnt * imageCnt * imageCnt * imageCnt * imageCnt) * sizeof(float));
	float *y0Param = (float *)malloc((imageCnt * imageCnt * imageCnt * imageCnt * imageCnt) * sizeof(float));
	float *y1Param = (float *)malloc((imageCnt * imageCnt * imageCnt * imageCnt * imageCnt) * sizeof(float));

	double *k1k2 = (double *)malloc(4 * homographyCnt * imageCnt * sizeof(double));
	double *pd = (double *)malloc(2 * homographyCnt * imageCnt * sizeof(double));
	int *validImage = (int *)malloc(4 * imageCnt);
	gHt = (float **)malloc(imageCnt * sizeof(*gHt));
	if(gHt == NULL)
		return 0;
	for(i = 0;i < imageCnt;i++)
	{
		gHt[i] = (float *)malloc(9 * sizeof(float));
		if(gHt[i] == NULL)
			return 0;
		
	}


	if(width < 2 || hight < 2 || imageCnt < 10)
	{
		return 0;
	}
	if(objectPoints == NULL || imagePoints == NULL || A == NULL)
		return 0;
	
	/*
	double mfx = 1.22f,mfy = 1.22f;
	double mcx = 13.0f,mcy = 12.0f;
	double mlamder = 0.2f;
	float mi[9],mit[9],mtim[9];
	mi[0] = 1/mfx; 	mi[1] = 0;		mi[2] = -mcx/mfx;
	mi[3] = 0;   	mi[4] = 1/mfy;	mi[5] = -mcy/mfy;
	mi[6] = 0;		mi[7] = 0;		mi[8] = 1;

	mit[0] = 1/mfx; 	mit[1] = 0;			mit[2] = 0;
	mit[3] = 0;   		mit[4] = 1/mfy;		mit[5] = 0;
	mit[6] = -mcx/mfx;	mit[7] = -mcy/mfy;	mit[8] = 1;

	mvMatrixMutl(mit,3,3,mi,3,mtim);

	b[0] = 1/(mfx * mfx);
	b[1] = 0.0f;
	b[2] = 1/(mfy * mfy);
	b[3] = -mcx/(mfx * mfx);
	b[4] = -mcy/(mfy * mfy);
	b[5] = (mcx/mfx) * (mcx/mfx) + (mcy/mfy)  * (mcy/mfy);

	fx = sqrt(fabs(1.0f/b[0]));
	fy = sqrt(fabs(1.0f/b[2]));
	cx = -b[3] * fx * fx;
	cy = -b[4] * fy * fy;
	
	float b[7] = {mtim[0],mtim[1],mtim[4],mtim[6],mtim[7],mtim[8],1.0f};
	*/
	pObjPoint = (vect2f_t *)objectPoints;
	pImgPoint = (vect2f_t *)imagePoints;


	CvMat _pt1, _pt2,_mHt;
	double Hdata[7][7],Bb[7],Bres[7];
	int count = 0,failFalg = 0;
	for(i = 0;i < imageCnt;i++)
	{
		float *pGht = gHt[i];
		/*
		printf("%f %f %f\n",gR[i][0][0],gR[i][0][1],gR[i][0][2]);
		printf("%f %f %f\n",gR[i][1][0],gR[i][1][1],gR[i][1][2]);
		printf("%f %f %f\n",gR[i][2][0],gR[i][2][1],gR[i][2][2]);
		*/
		validImage[i] = mvFindHomographyProj2Img(&pObjPoint[i * homographyCnt],
			&pImgPoint[i * homographyCnt],pGht,homographyCnt,stepx,stepy,200);
		if(validImage[i] == 0)
		{
			printf("i falid %d\n",i);
			continue;
		}
		
		/*
		if(fabs(gR[i][0][0] - pGht[0]) > 1.0f || fabs(gR[i][0][1] - pGht[1]) > 1.0f)
		{
			printf("\n");
			printf("%f %f %f\n",gR[i][0][0],gR[i][0][1],gR[i][0][2]);
			printf("%f %f %f\n",gR[i][1][0],gR[i][1][1],gR[i][1][2]);
			printf("%f %f %f\n",gR[i][2][0],gR[i][2][1],gR[i][2][2]);
			printf("\n");
			printf("%f %f %f\n",pGht[0],pGht[1],pGht[2]);
			printf("%f %f %f\n",pGht[3],pGht[4],pGht[5]);
			printf("%f %f %f\n",pGht[6],pGht[7],pGht[8]);
			printf("\n\n");
		}
		*/
		
	}
	for(p = 0;p < (imageCnt - 2);p++)
	{
		for(k = p + 1;k < (imageCnt - 1);k++)
		{
			for(m = k + 1;m < imageCnt;m++)
			{
				failFalg = 0;
				int index[3] = {p,k,m};
				if(validImage[p] == 0)
					continue;
				if(validImage[k] == 0)
					continue;
				if(validImage[m] == 0)
					continue;
				for(n = 0;n < 3;n++)
				{
					//float estR[9];
					
					//cvFindHomography(&_pt1,&_pt2,&_mHt);
					float *pGht = gHt[index[n]];
					mHt[0][0] = pGht[0];
					mHt[0][1] = pGht[1];
					mHt[0][2] = pGht[2];
					
					mHt[1][0] = pGht[3];
					mHt[1][1] = pGht[4];
					mHt[1][2] = pGht[5];
					
					mHt[2][0] = pGht[6];
					mHt[2][1] = pGht[7];
					mHt[2][2] = pGht[8];
					
					h11 = mHt[0][0];
					h12 = mHt[1][0];
					h13 = mHt[2][0];
					
					h21 = mHt[0][1];
					h22 = mHt[1][1];
					h23 = mHt[2][1];
					/*
					printf("\n");
					printf("%f %f %f\n",mHt[0][0],mHt[0][1],mHt[0][2]);
					printf("%f %f %f\n",mHt[1][0],mHt[1][1],mHt[1][2]);
					printf("%f %f %f\n",mHt[2][0],mHt[2][1],mHt[2][2]);
					printf("\n");
					*/
					/*
					h11 = gR[n][0][0];
					h12 = gR[n][1][0];
					h13 = gR[n][2][0];
					h21 = gR[n][0][1];
					h22 = gR[n][1][1];
					h23 = gR[n][2][1];
					*/
					double v12[7] = {h11 * h21,h11 * h22 + h12 * h21,h12 * h22,h13 * h21 + h11 * h23,h13 * h22 + h12 * h23,h13 * h23,h13 * h23};
					double v11[7] = {h11 * h11,h11 * h12 + h12 * h11,h12 * h12,h13 * h11 + h11 * h13,h13 * h12 + h12 * h13,h13 * h13,h13 * h13};
					double v22[7] = {h21 * h21,h21 * h22 + h22 * h21,h22 * h22,h23 * h21 + h21 * h23,h23 * h22 + h22 * h23,h23 * h23,h23 * h23};
					
					for(i = 0;i < 6;i++)
					{
						Hdata[2 * n][i] = v12[i];
					}
					Hdata[2 * n][6] = v12[6];
					Bb[2 * n + 0] = Hdata[2 * n][0];
			
					for(i = 0;i < 6;i++)
					{
						Hdata[2 * n + 1][i] = (v11[i] - v22[i]);
					}
					Hdata[2 * n + 1][6] = (v11[0] - v22[0]);
					Bb[2 * n + 1] = Hdata[2 * n + 1][0];

					/*
					double sum0 = 0.0f, sum1 = 0.0f;
					for(i = 0;i < 6;i++)
					{
						sum0 += v12[i] * b[i];
						sum1 += (v11[i] - v22[i]) * b[i];
					}
					if(fabs(sum0) > 0.0001f || fabs(sum1) > 0.0001f )
					{
						failFalg = 1;
					}
					*/
				}
				/*
				if(failFalg)
				{
					continue;
				}
				*/
				double max = -10000.0f;

				for(i = 0;i < 6;i++)
				{
					for(j = 0;j < 6;j++)
					{
						if(fabs(Hdata[i][j]) > max)
						{
							max = fabs(Hdata[i][j]);
						}
					}
				}
				
				Hdata[6][0] = 0;
				Hdata[6][1] = 0;
				Hdata[6][2] = 0;
				Hdata[6][3] = 0;
				Hdata[6][4] = 0;
				Hdata[6][5] = 0;
				Hdata[6][6] = 1;
				
				for(i = 0;i < 7;i++)
				{
					for(j = 0;j < 7;j++)
					{
						Hdata[i][j] = Hdata[i][j]/max;
					}
				}
				Bb[6] = 1.0f;
				for(i = 0;i < 7;i++)
				{
					Bb[i] = Bb[i]/max;
				}

				//mvMatrixTrans((float *)H.pdata,6,6,(float *)&Ht[0]);
				//mvMatrixMutl(&Ht[0],6,6,H.pdata,6,&HtH[0]);
				//mvJacobiEigens_32f(HtH,W,B.pdata,6,0.0001f);

				_pt1 = cvMat(7, 7, CV_64FC1, (double *)&Hdata[0][0] );
				_pt2 = cvMat(7, 1, CV_64FC1, (double *)&Bb[0] );
				_mHt = cvMat(7, 1, CV_64FC1, Bres);
				cvSolve( &_pt1, &_pt2, &_mHt, CV_SVD );

				double B11,B12,B13,B22,B23,B33,B00,deltFx,deltFy,deltCx,deltCy;
				B11 = Bres[0];
				B12 = Bres[1];
				B13 = Bres[2];
				B22 = Bres[3];
				B23 = Bres[4];
				B33 = Bres[5];
				B00 = Bres[6];
				deltFx = sqrt(fabs(1.0f/B11));
				deltFy = sqrt(fabs(1.0f/B13));
				deltCx = fabs(-B22 * deltFx * deltFx);
				deltCy = fabs(-B23 * deltFy * deltFy);
				double a1 = mHt[0][0] - deltCx * mHt[2][0] ;
				double b1 = mHt[0][1] - deltCy * mHt[2][1] ;
				double scale = deltFx/deltFy;
				deltFy = sqrt((a1 * a1 + scale * b1 * b1)/fabs(1 - mHt[2][0] * mHt[2][0]));
				deltFx = scale * deltFy;
	
				x0Param[count] = (float)deltCx;
				y0Param[count] = (float)deltCy;
				
				count++;
				//printf("%d:fx,fy,cx,cy = %f,%f,%f,%f\n",count,deltFx,deltFy,deltCx,deltCy);
				//printf("%d:fx,fy,cx,cy = %f,%f,%f,%f\n",count,fx,fy,cx,cy);
				
			}
		}
	}
	//fx = gR[n][0][0] - cx * gR[n][2][0]
	//printf("%d:fx,fy,cx,cy = %f,%f,%f,%f\n",count,fx/count,fy/count,cx/count,cy/count);

	cx = getBestVal(x0Param,count,4.0f);
	cy = getBestVal(y0Param,count,4.0f);
	
	count = 0;
	for(i = 0;i < imageCnt;i++)
	{
		if(validImage[i] == 0)
			continue;
		float *pGht = gHt[i];
		mHt[0][0] = pGht[0];
		mHt[0][1] = pGht[1];
		mHt[0][2] = pGht[2];
		
		mHt[1][0] = pGht[3];
		mHt[1][1] = pGht[4];
		mHt[1][2] = pGht[5];
		
		mHt[2][0] = pGht[6];
		mHt[2][1] = pGht[7];
		mHt[2][2] = pGht[8];
		
		double r31,r32;
		r31 = mHt[2][0];
		r32 = mHt[2][1];
#if 0
		deltFx = 122.0f;
		deltFy = 122.0f;
		
		double r11,r12,r21,r22;
		r31 = mHt[2][0];
		r32 = mHt[2][1];
		r11 = (mHt[0][0] - deltCx * r31)/deltFx;
		r21 = (mHt[1][0] - deltCy * r31)/deltFx;
		r12 = (mHt[0][1] - deltCx * r32)/deltFy;
		r22 = (mHt[1][1] - deltCy * r32)/deltFy;
		
		double mod0,mod1;

		mod0 = r11 * r11 + r21 * r21 + r31 * r31;
		mod1 = r12 * r12 + r22 * r22 + r32 * r32;
		printf("mod = %f %f\n",mod0 * 40000.0f,mod1 * 40000.0f);
		if(fabs(mod0 - 1.0f) > 0.1f || fabs(mod1 - 1.0f) > 0.1f)
		{
			continue;
		}
		
#endif
		double a,b,c,d,yy;
		a = (mHt[0][0] - cx * r31);
		b = (mHt[1][0] - cy * r31);
		c = (mHt[0][1] - cx * r32);
		d = (mHt[1][1] - cy * r32);
		double ff = (a * c * (b * b - d * d) - d * b * (a * a - c * c))
			/(a * c * (r32 * r32 - r31 * r31) + r31 * r32 * (a * a - c * c));
		if(fabs(ff) < 0.001f)
			continue;
		yy = 1.0f/ff;
		if(ff < 0.0f)
			continue;
		fy = (float)sqrt(ff);
		fx = (float)sqrt((a * a - c * c)/((r32 * r32 - r31 * r31) - (b * b - d * d) * yy));
		//fx = scale * deltFy;
		//printf("f = %f %f\n",fx,fy);
		x0Param[count] = fx;
		y0Param[count] = fy;
		count++;
	}
	fx = getBestVal(x0Param,count,4.0f);
	fy = getBestVal(y0Param,count,4.0f);
	printf("fx,fy,cx,cy = %f,%f,%f,%f\n",fx,fy,cx,cy);
	float mi[9],R[9];
	mi[0] = 1/fx; 	mi[1] = 0;		mi[2] = -cx/fx;
	mi[3] = 0;   	mi[4] = 1/fy;	mi[5] = -cy/fy;
	mi[6] = 0;		mi[7] = 0;		mi[8] = 1;
	float k1 = 0.0f,k2 = 0.0f;
	int kCnt = 0;
	double _k[2];
	for(n = 0;n < imageCnt;n++)
	{
		if(validImage[n] == 0)
			continue;
		float *pGht = gHt[n];
		mvMatrixMutl(mi,3,3,pGht,3,R);

		//printf("%f\n",R[0] * R[0] + R[3] * R[3] + R[6] * R[6]);
		//printf("%f\n",R[1] * R[1] + R[4] * R[4] + R[7] * R[7]);
		memcpy(pGht,R,36);
		double *_k1k2 = &k1k2[4 * kCnt * homographyCnt];
		double *d = &pd[2 * kCnt * homographyCnt];
		double x1,y1,x2,y2;
		for(i = 0;i < homographyCnt;i++)
		{
			vect2f_t  pT = pObjPoint[n * homographyCnt + i];
			vect2f_t  iT = pImgPoint[n * homographyCnt + i];
			x1 = (R[0] * pT.x + R[1] * pT.y + R[2])/(R[6] * pT.x + R[7] * pT.y + R[8]);
			y1 = (R[3] * pT.x + R[4] * pT.y + R[5])/(R[6] * pT.x + R[7] * pT.y + R[8]);
			
			double x2y2square = x1 * x1 + y1 * y1;
			double square2 = x2y2square * x2y2square;
			double square3 = x2y2square * x2y2square * x2y2square;
			double square4 = x2y2square * x2y2square * x2y2square * x2y2square;
			x2 = (iT.x - cx)/fx;
			y2 = (iT.y - cy)/fy;
			_k1k2[4 * i + 0] = x1 * square2;
			_k1k2[4 * i + 1] = x1 * square4;
			d[2 * i + 0] = x2 - x1;
			_k1k2[4 * i + 2] = y1 * square2;
			_k1k2[4 * i + 3] = y1 * square4;
			d[2 * i + 1] = y2 - y1;
	
		}
		//x0Param[2 * kCnt + 0] = sqrt(1.0f/(R[0] * R[0] + R[3] * R[3] + R[6] * R[6]));
		//x0Param[2 * kCnt + 1] = sqrt(1.0f/(R[1] * R[1] + R[4] * R[4] + R[7] * R[7]));
		//printf("z0 = %f\n",sqrt(1.0f/(R[0] * R[0] + R[3] * R[3] + R[6] * R[6])));
		//printf("z1 = %f\n",sqrt(1.0f/(R[1] * R[1] + R[4] * R[4] + R[7] * R[7])));
		kCnt++;
	}
	_pt1 = cvMat(kCnt * homographyCnt * 2, 2, CV_64FC1, k1k2);
	_pt2 = cvMat(kCnt * homographyCnt * 2, 1, CV_64FC1, pd );
	_mHt = cvMat(2, 1, CV_64FC1, _k);
	cvSolve( &_pt1, &_pt2, &_mHt, CV_SVD );
	_k[0] = _k[0] * 2.0f;
	_k[1] = _k[1] * 1.2f;
	//float z = getBestVal(x0Param,kCnt * 2,4.0f);
	//printf("k1,k2 = %f,%f\n",_k[0],_k[1]);
	
	A->pdata[0] = fx;
	A->pdata[1] = 0;
	A->pdata[2] = cx;
	A->pdata[3] = 0;
	A->pdata[4] = fy;
	A->pdata[5] = cy;
	A->pdata[6] = 0;
	A->pdata[7] = 0;
	A->pdata[8] = 1;

	
	mvBPCalcCameraParams(objectPoints,imagePoints,validImage,width,hight,imageCnt,stepx,stepy,A,_k,gHt);
	for(i = 0;i < imageCnt;i++)
	{
		free(gHt[i]);
	}
	free(gHt);
	free(x0Param);
	free(x1Param);
	free(y0Param);
	free(y1Param);
	free(k1k2);
	free(pd);
	free(validImage);
	return 1;
	
}
float yt[1000];
float xt[1000];
float getBestVal(float *pVal,int count,float limit)
{
	float maxValid = 0;
	int validCnt;
	int i,j;
	float validVal = 0.0f;
	float validSum = 0.0f;
	
	for(i = 0;i < (count - 1);i++)
	{
		validCnt = 0;
		for(j = i;j < count;j++)
		{
			if(fabs(pVal[i] - pVal[j]) < limit)
			{
				validCnt++;
			}
		}
		if(validCnt > (int)maxValid)
		{
			maxValid = (float)validCnt;
			validVal = pVal[i];
		}
	}
	validCnt = 0;
	for(j = 0;j < count;j++)
	{
		if(fabs(validVal - pVal[j]) < limit)
		{
			validCnt++;
			validSum += pVal[j];
		}
	}
	return (validSum/validCnt);
}
void LMTest(void)
{
	int i,j;
	float a1 = 1;
	float b1 = 1;
	float c1 = 1;
	float d1 = 1;
	#define LM_SIZE   4
	#define PARAM_NUM 16
	for(i = 0;i < 1000;i++)
	{
		xt[i] = (i - 500) * 0.1f;
		float temp = 2.5f * xt[i];
		yt[i] = 2.36f* temp * temp + 3.345f * temp + 4.1f;
	}
	float J[LM_SIZE][LM_SIZE],Jt[LM_SIZE][LM_SIZE],JtJ[LM_SIZE][LM_SIZE],P[LM_SIZE],e[LM_SIZE],Je[LM_SIZE],JtJi[LM_SIZE][LM_SIZE],JtJiJ[LM_SIZE][LM_SIZE];
	CvMat _J, _Jt,_JtJ,_P,_e,_Je,_JtJi;
	_J = cvMat(LM_SIZE, LM_SIZE, CV_32FC1, (double *)&J[0][0] );
	_Jt = cvMat(LM_SIZE, LM_SIZE, CV_32FC1, (double *)&Jt[0][0] );
	_JtJ = cvMat(LM_SIZE, LM_SIZE, CV_32FC1, (double *)&JtJ[0][0] );
	_JtJi = cvMat(LM_SIZE, LM_SIZE, CV_32FC1, (double *)&JtJi[0][0] );
	_P = cvMat(LM_SIZE, 1, CV_32FC1, P);
	_e = cvMat(LM_SIZE, 1, CV_32FC1, e);
	_Je = cvMat(LM_SIZE, 1, CV_32FC1, Je);
	float temp;			
	for(j = 0;j < 6000;j++)
	{
		for(i = 0;i < LM_SIZE;i++)
		{
			int idx = rand() % 1000;
			printf("idx = %d\n",idx);
			temp = d1 * xt[idx];
			float ytt0 = a1 * temp * temp + b1 * temp + c1;
			J[i][0] = temp * temp;
			J[i][1] = temp;
			J[i][2] = 1;
			J[i][3] = (2.0f * a1 * temp + b1) * xt[idx];
			e[i] = ytt0 - yt[idx];
		}
		mvMatrixTrans((float *)&J[0][0],LM_SIZE,LM_SIZE,(float *)&Jt[0][0]);
		mvMatrixMutl((float *)&Jt[0][0],LM_SIZE,LM_SIZE,(float *)&J[0][0],LM_SIZE,(float *)&JtJ[0][0]);
		cvInvert(&_JtJ,&_JtJi,CV_SVD);
		mvMatrixMutl((float *)&JtJi[0][0],LM_SIZE,LM_SIZE,(float *)&Jt[0][0],LM_SIZE,(float *)&JtJiJ[0][0]);
		mvMatrixMutl((float *)&JtJiJ[0][0],LM_SIZE,LM_SIZE,(float *)e,1,(float *)&P[0]);
		//cvGEMM(&_J,&_e,1,NULL,1,&_Je);
		//cvGEMM(&_JtJi,&_Je,1,NULL,1,&_P);
		
		//cvSolve( &_J, &_e, &_P, CV_SVD );

		a1 = a1 - 0.2f * P[0];
		b1 = b1 - 0.2f * P[1];
		c1 = c1 - 0.2f * P[2];
		d1 = d1 - 0.2f * P[3];
		float err = 0.0f;
		float ytt0;
		for(i = 0;i < 1000;i++)
		{
			temp = d1 * xt[i];
			ytt0 = a1 * temp * temp + b1 * temp + c1;
			err += ytt0 - yt[i];
		}
		printf("err = %f\n",err);
		
	}
	printf("a,b,c = %f,%f,%f",a1,b1,c1);
}
double getErrHomParams(vect2f_t *src,vect2f_t *dst,float *H,double fx,
	double fy,double cx,double cy,int nPoint)
{
	double x1,y1,x3,y3;
	float *pGht = H;
	float mi[9],R[9];
	int i;
	double errSum = 0.0f;
	mi[0] = (float)1/(float)fx; 	mi[1] = 0;		mi[2] = -(float)cx/(float)fx;
	mi[3] = 0;   	mi[4] = (float)1/(float)fy;	mi[5] = -(float)cy/(float)fy;
	mi[6] = 0;		mi[7] = 0;		mi[8] = 1;
	mvMatrixMutl(mi,3,3,H,3,R);

	vect2f_t *_imgPoint = src;
	vect2f_t *_prjPoint = dst;
	
	for(i = 0;i < nPoint;i++)
	{
		vect2f_t  pT = _prjPoint[i];
		x1 = (R[0] * pT.x + R[1] * pT.y + R[2])/(R[6] * pT.x + R[7] * pT.y + R[8]);
		y1 = (R[3] * pT.x + R[4] * pT.y + R[5])/(R[6] * pT.x + R[7] * pT.y + R[8]);
/*
		double x2y2square = x1 * x1 + y1 * y1;
		double square2 = x2y2square * x2y2square;
		double square3 = x2y2square * x2y2square * x2y2square;
		double square4 = x2y2square * x2y2square * x2y2square * x2y2square;
		
		double scalek1 = k1 * square2;
		double scalek2 = k2 * square4;
		
		x2 = x1 * (1 + k1 * square2 + k2 * square4);
		y2 = y1 * (1 + k1 * square2 + k2 * square4);
*/		
		x3 = fx * x1 + cx;
		y3 = fy * y1 + cy;
		errSum += fabs(x3 - _imgPoint[i].x);
		errSum += fabs(y3 - _imgPoint[i].y);

	}
	errSum = errSum/(2.0f *nPoint);

	return errSum;
}

double getErrCameraParams(vect2f_t *src,vect2f_t *dst,double *param,int nPoint)
{
	int j;
	double errSum = 0.0f;
	double x,y,x1,y1,x2,y2,x3,y3;
	double fx,fy,cx,cy,k1,k2,R[3][3];
	fx 		= param[0];
	fy 		= param[1];
	cx 		= param[2];
	cy 		= param[3];
	k1 		= param[4];
	k2 		= param[5];
	R[0][0] = param[6];
	R[0][1] = param[7];
	R[0][2] = param[8];
	R[1][0] = param[9];
	R[1][1] = param[10];
	R[1][2] = param[11];
	R[2][0] = param[12];
	R[2][1] = param[13];
	R[2][2] = param[14];
	for(j = 0;j < nPoint;j++)
	{
		x = (double)src[j].x;
		y = (double)src[j].y;
		x1 = (double)(R[0][0] * x + R[0][1] * y + R[0][2])/(R[2][0] * x + R[2][1] * y + R[2][2]);
		y1 = (double)(R[1][0] * x + R[1][1] * y + R[1][2])/(R[2][0] * x + R[2][1] * y + R[2][2]);
		double x2y2square = x1 * x1 + y1 * y1;
		double square2 = x2y2square * x2y2square;
		double square3 = x2y2square * x2y2square * x2y2square;
		double square4 = x2y2square * x2y2square * x2y2square * x2y2square;
		x2 = x1 * (1 + k1 * square2 + k2 * square4);
		y2 = y1 * (1 + k1 * square2 + k2 * square4);
		x3 = fx * x2 + cx;
		y3 = fy * y2 + cy;

		errSum += fabs(x3 - dst[j].x);
		errSum += fabs(y3 - dst[j].y);
	}
	errSum = errSum/(2.0f *nPoint);

	return errSum;
}

void mvBPCalcCameraParams(const vect2f_t* objectPoints,
                  const vect2f_t* imagePoints, int *validImage,int width,int hight,
                  int imageCnt, float stepx,float stepy,matrix_t* A,double *k,float **gHt)
{
	double deltFx = 0.0f,deltFy = 0.0f,deltCx = 0.0f,deltCy = 0.0f,deltK1 = 0.0f,deltK2 = 0.0f;
	double deltR11 = 0.0f,deltR12 = 0.0f,deltTx = 0.0f;
	double deltR21 = 0.0f,deltR22 = 0.0f,deltTy = 0.0f;
	double deltR31 = 0.0f,deltR32 = 0.0f,deltTz = 0.0f;
	
	//float dFx,dFy,dCx,dCy,dK1,dK2,dR11,dR12,dR13,dR21,dR22,dR23,dR31,dR32,dR33;
	double J[16][15],e[16],delt[15],filterDelt[15],param[15],filterDeltTemp[15],paramTemp[15];
	double k1,k2,fx,fy,cx,cy;
	double x,y,x1,y1,x2,y2,x3,y3;
	int j;
	float miu = 0.2f;
	float scale = 0.2f;
	double R[3][3];
	int iner = 0;
	k1 = 0.000001f;k2 = 0.000000000001f;
	fx = A->pdata[0];fy = A->pdata[4];cx = A->pdata[2];cy = A->pdata[5];

	//LMTest();
	CvMat _pt1, _pt2,_delt;
	_pt1 = cvMat(16, 15, CV_64FC1, (double *)&J[0][0] );
	_pt2 = cvMat(16, 1, CV_64FC1, (double *)&e[0] );
	_delt = cvMat(15, 1, CV_64FC1, delt);
	param[0] = fx;
	param[1] = fy;
	param[2] = cx;
	param[3] = cy;
	param[4] = k[0];
	param[5] = k[1];
	double lastErr = 10000.0f;
	double gErr;
	for(int n = 0;n < imageCnt;n++)
	{
		vect2f_t *pObjectPoints = (vect2f_t *)&objectPoints[n * width * hight];
		vect2f_t *pImagePoints = (vect2f_t *)&imagePoints[n * width * hight];
		if(validImage[n] == 0)
			continue;
		memset(filterDelt,0,15 * sizeof(double));
		float *pGht = gHt[n];
		R[0][0] = pGht[0];
		R[0][1] = pGht[1];
		R[0][2] = pGht[2];
		R[1][0] = pGht[3];
		R[1][1] = pGht[4];
		R[1][2] = pGht[5];
		R[2][0] = pGht[6];
		R[2][1] = pGht[7];
		R[2][2] = pGht[8];
		
		param[6] = R[0][0];
		param[7] = R[0][1];
		param[8] = R[0][2];
		param[9] = R[1][0];
		param[10] = R[1][1];
		param[11] = R[1][2];
		param[12] = R[2][0];
		param[13] = R[2][1];
		param[14] = R[2][2];
		
		gErr = getErrCameraParams(pObjectPoints,pImagePoints,param,(width * hight));
		if(gErr > lastErr)
		{
			continue;
		}
		lastErr = gErr;
		iner = 0;
		for(;;)
		{
			fx 		= param[0];
			fy 		= param[1];
			cx 		= param[2];
			cy 		= param[3];
			k1 		= param[4];
			k2 		= param[5];
			R[0][0] = param[6];
			R[0][1] = param[7];
			R[0][2] = param[8];
			R[1][0] = param[9];
			R[1][1] = param[10];
			R[1][2] = param[11];
			R[2][0] = param[12];
			R[2][1] = param[13];
			R[2][2] = param[14];
			int idxrtan[8];

			while(!mvGetPointIndex(pObjectPoints,width * hight,&idxrtan[0],stepx,stepy,0));
			while(!mvGetPointIndex(pObjectPoints,width * hight,&idxrtan[4],stepx,stepy,0));
			for(j = 0;j < 8;j++)
			{
				int idx = idxrtan[j];
				x = (double)pObjectPoints[idx].x;
				y = (double)pObjectPoints[idx].y;
				x1 = (double)(R[0][0] * x + R[0][1] * y + R[0][2])/(R[2][0] * x + R[2][1] * y + R[2][2]);
				y1 = (double)(R[1][0] * x + R[1][1] * y + R[1][2])/(R[2][0] * x + R[2][1] * y + R[2][2]);
				double x2y2square = x1 * x1 + y1 * y1;
				double square2 = x2y2square * x2y2square;
				double square3 = x2y2square * x2y2square * x2y2square;
				double square4 = x2y2square * x2y2square * x2y2square * x2y2square;
				x2 = x1 * (1 + k1 * square2 + k2 * square4);
				y2 = y1 * (1 + k1 * square2 + k2 * square4);
				x3 = fx * x2 + cx;
				y3 = fy * y2 + cy;

				double dx3dx2 = fx;
				double dy3dy2 = fy;
				double dx2dx1 = 1 + k1 * x2y2square \
				 + 4.0f * x1 * x1 * x2y2square + k2 * square4\
				 + 8.0f * k2 * x1 * x1 * square3;
				double dy2dy1 = 1 + k1 * x2y2square \
				 + 4.0f * y1 * y1 * x2y2square + k2 * square4\
				 + 8.0f * k2 * y1 * y1 * square3;
				
				J[2 * j + 0][0] = x2;
				J[2 * j + 0][1] = 0;
				J[2 * j + 0][2] = 1;
				J[2 * j + 0][3] = 0;
				J[2 * j + 0][4] = dx3dx2 * x1 * square2;
				J[2 * j + 0][5] = dx3dx2 * x1 * square4;
				J[2 * j + 0][6] = fx * dx2dx1 * (x);
				J[2 * j + 0][7] = fx * dx2dx1 * (y);
				J[2 * j + 0][8] = fx * dx2dx1 * (1);
				J[2 * j + 0][9] = fx * dx2dx1 * (0);
				J[2 * j + 0][10] = fx * dx2dx1 * (0);
				J[2 * j + 0][11] = fx * dx2dx1 * (0);
				J[2 * j + 0][12] = fx * dx2dx1 * (-x1 * x);
				J[2 * j + 0][13] = fx * dx2dx1 * (-x1 * y);
				J[2 * j + 0][14] = fx * dx2dx1 * (x1);
				e[2 * j + 0] = x3 - pImagePoints[idx].x;

				J[2 * j + 1][0] = 0;
				J[2 * j + 1][1] = y2;
				J[2 * j + 1][2] = 0;
				J[2 * j + 1][3] = 1;
				J[2 * j + 1][4] = dy3dy2 * y1 * square2;
				J[2 * j + 1][5] = dy3dy2 * y1 * square4;
				J[2 * j + 1][6] = fy * dy2dy1 * (0);
				J[2 * j + 1][7] = fy * dy2dy1 * (0);
				J[2 * j + 1][8] = fy * dy2dy1 * (0);
				J[2 * j + 1][9] = fy * dy2dy1 * (x);
				J[2 * j + 1][10] = fy * dy2dy1 * (y);
				J[2 * j + 1][11] = fy * dy2dy1 * (1);
				J[2 * j + 1][12] = fy * dy2dy1 * (-y1 * x);
				J[2 * j + 1][13] = fy * dy2dy1 * (-y1 * y);
				J[2 * j + 1][14] = fy * dy2dy1 * (y1);
				e[2 * j + 1] = y3 - pImagePoints[idx].y;
				
			}
			cvSolve( &_pt1, &_pt2, &_delt, CV_SVD );
			memcpy(filterDeltTemp,filterDelt,sizeof(filterDelt));
			memcpy(paramTemp,param,sizeof(param));
			for(j = 0;j < 15;j++)
			{
				filterDelt[j] = 0.8f * filterDelt[j] + 0.2f * delt[j];
			}
			for(j = 0;j < 15;j++)
			{
				param[j] = param[j] - 0.2f * filterDelt[j];
			}
			
			gErr = getErrCameraParams(pObjectPoints,pImagePoints,param,(width * hight));
			
			if(gErr > lastErr)
			{
				memcpy(filterDelt,filterDeltTemp,sizeof(filterDelt));
				memcpy(param,paramTemp,sizeof(param));
				//break;
			}
			else
			{
				lastErr = gErr;
			}
			iner++;
			if(iner > 5000)
			{
				n = imageCnt;
				break;
			}
			if(gErr < 0.1f)
			{
				n = imageCnt;
				break;
			}
			

		}
		
	}
	k[0] = k1 * 1.2f;
	k[1] = k2 * 1.2f;
	
	printf("best = %f,%f,%f,%f,%f,%f\n",fx,fy,cx,cy,k1,k2);
	printf("ERR = %f\n",gErr);
	if(gErr > 0.1f)
	{
		printf("calib image failed!\n\n\n\n");
	}
	A->pdata[0] = (float)fx;
	A->pdata[1] = 0;
	A->pdata[2] = (float)cx;
	A->pdata[3] = 0;
	A->pdata[4] = (float)fy;
	A->pdata[5] = (float)cy;
	A->pdata[6] = 0;
	A->pdata[7] = 0;
	A->pdata[8] = 1;
	
}


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欢迎使用Markdown编辑器

你好！ 这是你第一次使用 Markdown编辑器 所展示的欢迎页。如果你想学习如何使用Markdown编辑器, 可以仔细阅读这篇文章，了解一下Markdown的基本语法知识。

新的改变

我们对Markdown编辑器进行了一些功能拓展与语法支持，除了标准的Markdown编辑器功能，我们增加了如下几点新功能，帮助你用它写博客：

  1. 全新的界面设计 ，将会带来全新的写作体验；
  2. 在创作中心设置你喜爱的代码高亮样式，Markdown 将代码片显示选择的高亮样式 进行展示；
  3. 增加了 图片拖拽 功能，你可以将本地的图片直接拖拽到编辑区域直接展示；
  4. 全新的 KaTeX数学公式 语法；
  5. 增加了支持甘特图的mermaid语法1 功能；
  6. 增加了 多屏幕编辑 Markdown文章功能；
  7. 增加了 焦点写作模式、预览模式、简洁写作模式、左右区域同步滚轮设置 等功能，功能按钮位于编辑区域与预览区域中间；
  8. 增加了 检查列表 功能。

功能快捷键

撤销：Ctrl/Command + Z
重做：Ctrl/Command + Y
加粗：Ctrl/Command + B
斜体：Ctrl/Command + I
标题：Ctrl/Command + Shift + H
无序列表：Ctrl/Command + Shift + U
有序列表：Ctrl/Command + Shift + O
检查列表：Ctrl/Command + Shift + C
插入代码：Ctrl/Command + Shift + K
插入链接：Ctrl/Command + Shift + L
插入图片：Ctrl/Command + Shift + G

合理的创建标题，有助于目录的生成

直接输入1次#，并按下space后，将生成1级标题。
输入2次#，并按下space后，将生成2级标题。
以此类推，我们支持6级标题。有助于使用TOC语法后生成一个完美的目录。

如何改变文本的样式

强调文本 强调文本

加粗文本 加粗文本

标记文本

删除文本

引用文本

H2O is是液体。

210 运算结果是 1024.

插入链接与图片

链接: link.

图片: Alt

带尺寸的图片: Alt

居中的图片: Alt

居中并且带尺寸的图片: Alt

当然，我们为了让用户更加便捷，我们增加了图片拖拽功能。

如何插入一段漂亮的代码片

去博客设置页面，选择一款你喜欢的代码片高亮样式，下面展示同样高亮的 代码片.

// An highlighted block
var foo = 'bar';

  • 1
  • 2

生成一个适合你的列表

  • 项目
    • 项目
      • 项目
  1. 项目1
  2. 项目2
  3. 项目3
  • 计划任务
  • 完成任务

创建一个表格

一个简单的表格是这么创建的：

项目Value
电脑$1600
手机$12
导管$1

设定内容居中、居左、居右

使用:---------:居中
使用:----------居左
使用----------:居右

第一列第二列第三列
第一列文本居中第二列文本居右第三列文本居左

SmartyPants

SmartyPants将ASCII标点字符转换为“智能”印刷标点HTML实体。例如：

TYPEASCIIHTML
Single backticks'Isn't this fun?'‘Isn’t this fun?’
Quotes"Isn't this fun?"“Isn’t this fun?”
Dashes-- is en-dash, --- is em-dash– is en-dash, — is em-dash

创建一个自定义列表

Markdown
Text-to- HTML conversion tool
Authors
John
Luke

如何创建一个注脚

一个具有注脚的文本。2

注释也是必不可少的

Markdown将文本转换为 HTML。

KaTeX数学公式

您可以使用渲染LaTeX数学表达式 KaTeX:

Gamma公式展示 Γ ( n ) = ( n − 1 ) ! ∀ n ∈ N \Gamma(n) = (n-1)!\quad\forall n\in\mathbb N Γ(n)=(n−1)!∀n∈N 是通过欧拉积分

Γ ( z ) = ∫ 0 ∞ t z − 1 e − t d t &ThinSpace; . \Gamma(z) = \int_0^\infty t^{z-1}e^{-t}dt\,. Γ(z)=∫0∞​tz−1e−tdt.

你可以找到更多关于的信息 LaTeX 数学表达式here.

新的甘特图功能，丰富你的文章

Mon 06 Mon 13 Mon 20 已完成 进行中 计划一 计划二 现有任务 Adding GANTT diagram functionality to mermaid
  • 关于 甘特图 语法，参考 这儿,

UML 图表

可以使用UML图表进行渲染。 Mermaid. 例如下面产生的一个序列图：:

张三 李四 王五 你好！李四, 最近怎么样? 你最近怎么样，王五？ 我很好，谢谢! 我很好，谢谢! 李四想了很长时间, 文字太长了 不适合放在一行. 打量着王五... 很好... 王五, 你怎么样? 张三 李四 王五

这将产生一个流程图。:

链接
长方形
圆
圆角长方形
菱形
  • 关于 Mermaid 语法，参考 这儿,

FLowchart流程图

我们依旧会支持flowchart的流程图：

Created with Raphaël 2.2.0 开始 我的操作 确认？ 结束 yes no
  • 关于 Flowchart流程图 语法，参考 这儿.

导出与导入

导出

如果你想尝试使用此编辑器, 你可以在此篇文章任意编辑。当你完成了一篇文章的写作, 在上方工具栏找到 文章导出 ，生成一个.md文件或者.html文件进行本地保存。

导入

如果你想加载一篇你写过的.md文件，在上方工具栏可以选择导入功能进行对应扩展名的文件导入，
继续你的创作。

  1. mermaid语法说明 ↩︎

  2. 注脚的解释 ↩︎

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