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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

双目视觉lm算法


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

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)=(n1)!nN 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)=0tz1etdt.

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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