#ifndef CALIB_H#define CALIB_H#include <stdio.h>#include <stdlib.h>#include "clapack.h"inline void calib(const char * const filename, double b[]) {	double sx, sy, wx, wy;	double a[64];	int ipiv[8];	FILE *fp = fopen(filename, "r");	if (fp == NULL) {		perror(filename);		exit(-1);	}	int i;	for (i=0; i<4; ++i) {		if (fscanf(fp, "%lf %lf %lf %lf", &wx, &wy, &sx, &sy) != 4) {			fprintf(stderr, "fscanf error\n");			exit(-1);		}		a[8*i] = sx;		a[8*i+1] = sy;		a[8*i+2] = 1;		a[8*i+3] = 0;		a[8*i+4] = 0;		a[8*i+5] = 0;		a[8*i+6] = -sx * wx;		a[8*i+7] = -sy * wx;		a[8*i+32] = 0;		a[8*i+33] = 0;		a[8*i+34] = 0;		a[8*i+35] = sx;		a[8*i+36] = sy;		a[8*i+37] = 1;		a[8*i+38] = -sx * wy;		a[8*i+39] = -sy * wy;		b[i] = wx;		b[i+4] = wy;	}	fclose(fp);	if (clapack_dgesv(CblasRowMajor, 8, 1, a, 8, ipiv, b, 8) != 0) {		fprintf(stderr, "dgesv error\n");		exit(-1);	}}#endif