//兩個全局變量
double *GBmodelPoints;
double *GBimagePoints;
double A_inside[9];/////內(nèi)參
double **entrinsic;/////外參
double k[2];/////畸變系數(shù)
double A_refined[9];/////優(yōu)化后的A矩陣
double **entrinsic_refine;/////優(yōu)化后的外參數(shù)
double k_refine[2];/////優(yōu)化后的畸變系數(shù)
int picNumber;/////圖片的數(shù)量
int PointsOfone;/////一幅圖像的點數(shù)



void solveAx0(int m, int n, double* A, double* x);
void normalise2dpts(int nPoints,double *point,double *T);
void fcn_lm_H(const int *m, const int *n, const double *x, double *fvec, int *iflag);
void lm_cminpack(double *matrix,int nPoints,double *lm);
void lmHomography(double *imagePoints,double *modelPoints,double *H_intia,int nPoints,double *lm);
int homography(int nPoints,double *modelPoints,double *imagePoints,double *H);
void v_compute(int numOfpic,double **H,double *v);
void zhang_2D_extrinsic(int numOfpic,double **H);
void zhang_2D_k(int numOfpic,int nPoints,double *modelPoints,double *imagePoints);
void zhang_2D_unrefined(int numOfpic,int nPoints,double *modelPoints,double *imagePoints);
void fcn_lm_all(const int *m, const int *n, const double *x, double *fvec, int *iflag);
void lm_last(double* begin,double *lm);
void lm_refine_all(double *refine_begin,double* refine,double *modelPoints,double *imagePoints);
void zhang_2D_refine(int numOfpic,int nPoints,double *modelPoints,double *imagePoints);
void zhang_2D_calib(int numOfpic,int nPoints,double *model,double *imagePoints);