#ifndef CALIB_H#define CALIB_H#include <stdio.h>#include <stdlib.h>#include <string.h>#include "clapack.h"inline void calib_pi(const char * const filename) {	FILE *fp = fopen(filename, "r");	if (fp == NULL) {		perror(filename);		exit(-1);	}	unsigned int n;	if (fscanf(fp, "%u", &n) != 1) {		fprintf(stderr, "error read calib_n\n");		exit(-1);	}	if (n > 10) {		fprintf(stderr, "calib_n too big\n");		exit(-1);	}	double a[4*n*n];	double b[2*n];	unsigned int i;	for (i=0; i<n; ++i) {		double sx, sy, wx, wy;		if (fscanf(fp, "%lf %lf %lf %lf", &wx, &wy, &sx, &sy) != 4) {			fprintf(stderr, "error read calib_data\n");			exit(-1);		}		a[2*n*i] = sx;		a[2*n*i+1] = sy;		a[2*n*i+2] = 1;		a[2*n*i+3] = 0;		a[2*n*i+4] = 0;		a[2*n*i+5] = 0;		a[2*n*i+6] = -sx * wx;		a[2*n*i+7] = -sy * wx;		a[2*n*i+2*n*n] = 0;		a[2*n*i+2*n*n+1] = 0;		a[2*n*i+2*n*n+2] = 0;		a[2*n*i+2*n*n+3] = sx;		a[2*n*i+2*n*n+4] = sy;		a[2*n*i+2*n*n+5] = 1;		a[2*n*i+2*n*n+6] = -sx * wy;		a[2*n*i+2*n*n+7] = -sy * wy;		b[i] = wx;		b[i+n] = wy;	}	fclose(fp);	printf("b=\n");	for (i=0; i<10; ++i) {			printf("%f\n", b[i]);	}		double atb[8];	cblas_dgemv(CblasRowMajor, CblasTrans, 2*n, 8, 1.0, a, 2*n, b, 1, 0.0, atb, 1);	printf("atb=\n");	for (i=0; i<8; ++i) {			printf("%f\n", atb[i]);	}	printf("\n");	printf("a=\n");	for (i=0; i<10; ++i) {		int j;		for (j=0; j<8; ++j) {			printf("%f ", a[i*10+j]);		}		printf("\n");	}	double ata[64];	cblas_dsyrk(CblasRowMajor, CblasUpper, CblasTrans, 8, 10, 1.0, a, 10, 0.0, ata, 8);	printf("ata=\n");	for (i=0; i<8; ++i) {		int j;		for (j=0; j<8; ++j) {			printf("%.1f ", ata[i*8+j]);		}		printf("\n");	}	if (clapack_dposv(CblasRowMajor, CblasUpper, 8, 1, ata, 8, atb, 8) != 0) {		fprintf(stderr, "dgesv error\n");		exit(-1);	}	for (i=0; i<8; ++i) printf("%f\n", atb[i]);}#endif