test.h

这是在张正友摄像机标定的基础上对其算法进行改进

double Model[512]={  
	     0,   -0.5000,
    0.8889,   -0.5000,    
    1.7778,   -0.5000,    
    2.6667,   -0.5000,    
    3.5556,   -0.5000,    
    4.4444,   -0.5000,    
    5.3333,   -0.5000,    
    6.2222,   -0.5000,
         0,   -1.3889,
    0.8889,   -1.3889,
    1.7778,   -1.3889,
    2.6667,   -1.3889,
    3.5556,   -1.3889,
    4.4444,   -1.3889,
    5.3333,   -1.3889,
    6.2222,   -1.3889,
         0,   -2.2778,
    0.8889,   -2.2778,
    1.7778,   -2.2778,
    2.6667,   -2.2778,
    3.5556,   -2.2778,
    4.4444,   -2.2778,
    5.3333,   -2.2778,
    6.2222,   -2.2778,
         0,   -3.1667,
    0.8889,   -3.1667,
    1.7778,   -3.1667,
    2.6667,   -3.1667,
    3.5556,   -3.1667,
    4.4444,   -3.1667,
    5.3333,   -3.1667,
    6.2222,   -3.1667,
         0,   -4.0556,
    0.8889,   -4.0556,
    1.7778,   -4.0556,
    2.6667,   -4.0556,
    3.5556,   -4.0556,
    4.4444,   -4.0556,
    5.3333,   -4.0556,
    6.2222,   -4.0556,
         0,   -4.9444,
    0.8889,   -4.9444,
    1.7778,   -4.9444,
    2.6667,   -4.9444,
    3.5556,   -4.9444,
    4.4444,   -4.9444,
    5.3333,   -4.9444,
    6.2222,   -4.9444,
         0,   -5.8333,
    0.8889,   -5.8333,
    1.7778,   -5.8333,
    2.6667,   -5.8333,
    3.5556,   -5.8333,
    4.4444,   -5.8333,
    5.3333,   -5.8333,
    6.2222,   -5.8333,
         0,   -6.7222,
    0.8889,   -6.7222,
    1.7778,   -6.7222,
    2.6667,   -6.7222,
    3.5556,   -6.7222,
    4.4444,   -6.7222,
    5.3333,   -6.7222,
    6.2222,   -6.7222,
    0.5000,   -0.5000,
    1.3889,   -0.5000,
    2.2778,   -0.5000,
    3.1667,   -0.5000,
    4.0556,   -0.5000,
    4.9444,   -0.5000,
    5.8333,   -0.5000,
    6.7222,   -0.5000,
    0.5000,   -1.3889,
    1.3889,   -1.3889,
    2.2778,   -1.3889,
    3.1667,   -1.3889,
    4.0556,   -1.3889,
    4.9444,   -1.3889,
    5.8333,   -1.3889,
    6.7222,   -1.3889,
    0.5000,   -2.2778,
    1.3889,   -2.2778,
    2.2778,   -2.2778,
    3.1667,   -2.2778,
    4.0556,   -2.2778,
    4.9444,   -2.2778,
    5.8333,   -2.2778,
    6.7222,   -2.2778,
    0.5000,   -3.1667,
    1.3889,   -3.1667,
    2.2778,   -3.1667,
    3.1667,   -3.1667,
    4.0556,   -3.1667,
    4.9444,   -3.1667,
    5.8333,   -3.1667,
    6.7222,   -3.1667,
    0.5000,   -4.0556,
    1.3889,   -4.0556,
    2.2778,   -4.0556,
    3.1667,   -4.0556,
    4.0556,   -4.0556,
    4.9444,   -4.0556,
    5.8333,   -4.0556,
    6.7222,   -4.0556,
    0.5000,   -4.9444,
    1.3889,   -4.9444,
    2.2778,   -4.9444,
    3.1667,   -4.9444,
    4.0556,   -4.9444,
    4.9444,   -4.9444,
    5.8333,   -4.9444,
    6.7222,   -4.9444,
    0.5000,   -5.8333,
    1.3889,   -5.8333,
    2.2778,   -5.8333,
    3.1667,   -5.8333,
    4.0556,   -5.8333,
    4.9444,   -5.8333,
    5.8333,   -5.8333,
    6.7222,   -5.8333,
    0.5000,   -6.7222,
    1.3889,   -6.7222,
    2.2778,   -6.7222,
    3.1667,   -6.7222,
    4.0556,   -6.7222,
    4.9444,   -6.7222,
    5.8333,   -6.7222,
    6.7222,   -6.7222,
    0.5000,         0,
    1.3889,         0,
    2.2778,         0,
    3.1667,         0,
    4.0556,         0,
    4.9444,         0,
    5.8333,         0,
    6.7222,         0,
    0.5000,   -0.8889,
    1.3889,   -0.8889,
    2.2778,   -0.8889,
    3.1667,   -0.8889,
    4.0556,   -0.8889,
    4.9444,   -0.8889,
    5.8333,   -0.8889,
    6.7222,   -0.8889,
    0.5000,   -1.7778,
    1.3889,   -1.7778,
    2.2778,   -1.7778,
    3.1667,   -1.7778,
    4.0556,   -1.7778,
    4.9444,   -1.7778,
    5.8333,   -1.7778,
    6.7222,   -1.7778,
    0.5000,   -2.6667,
    1.3889,   -2.6667,
    2.2778,   -2.6667,
    3.1667,   -2.6667,
    4.0556,   -2.6667,
    4.9444,   -2.6667,
    5.8333,   -2.6667,
    6.7222,   -2.6667,
    0.5000,   -3.5556,
    1.3889,   -3.5556,
    2.2778,   -3.5556,
    3.1667,   -3.5556,
    4.0556,   -3.5556,
    4.9444,   -3.5556,
    5.8333,   -3.5556,
    6.7222,   -3.5556,
    0.5000,   -4.4444,
    1.3889,   -4.4444,
    2.2778,   -4.4444,
    3.1667,   -4.4444,
    4.0556,   -4.4444,
    4.9444,   -4.4444,
    5.8333,   -4.4444,
    6.7222,   -4.4444,
    0.5000,   -5.3333,
    1.3889,   -5.3333,
    2.2778,   -5.3333,
    3.1667,   -5.3333,
    4.0556,   -5.3333,
    4.9444,   -5.3333,
    5.8333,   -5.3333,
    6.7222,   -5.3333,
    0.5000,   -6.2222,
    1.3889,   -6.2222,
    2.2778,   -6.2222,
    3.1667,   -6.2222,
    4.0556,   -6.2222,
    4.9444,   -6.2222,
    5.8333,   -6.2222,
    6.7222,   -6.2222,
         0,         0,
    0.8889,         0,
    1.7778,         0,
    2.6667,         0,
    3.5556,         0,
    4.4444,         0,
    5.3333,         0,
    6.2222,         0,
         0,   -0.8889,
    0.8889,   -0.8889,
    1.7778,   -0.8889,
    2.6667,   -0.8889,
    3.5556,   -0.8889,
    4.4444,   -0.8889,
    5.3333,   -0.8889,
    6.2222,   -0.8889,
         0,   -1.7778,
    0.8889,   -1.7778,
    1.7778,   -1.7778,
    2.6667,   -1.7778,
    3.5556,   -1.7778,
    4.4444,   -1.7778,
    5.3333,   -1.7778,
    6.2222,   -1.7778,
         0,   -2.6667,
    0.8889,   -2.6667,
    1.7778,   -2.6667,
    2.6667,   -2.6667,
    3.5556,   -2.6667,
    4.4444,   -2.6667,
    5.3333,   -2.6667,
    6.2222,   -2.6667,
         0,   -3.5556,
    0.8889,   -3.5556,
    1.7778,   -3.5556,
    2.6667,   -3.5556,
    3.5556,   -3.5556,
    4.4444,   -3.5556,
    5.3333,   -3.5556,
    6.2222,   -3.5556,
         0,   -4.4444,
    0.8889,   -4.4444,
    1.7778,   -4.4444,
    2.6667,   -4.4444,
    3.5556,   -4.4444,
    4.4444,   -4.4444,
    5.3333,   -4.4444,
    6.2222,   -4.4444,
         0,   -5.3333,
    0.8889,   -5.3333,
    1.7778,   -5.3333,
    2.6667,   -5.3333,
    3.5556,   -5.3333,
    4.4444,   -5.3333,
    5.3333,   -5.3333,
    6.2222,   -5.3333,
         0,   -6.2222,
    0.8889,   -6.2222,
    1.7778,   -6.2222,
    2.6667,   -6.2222,
    3.5556,   -6.2222,
    4.4444,   -6.2222,
    5.3333,   -6.2222,
    6.2222,   -6.2222,
};

double m1[512]={
   63.4392,  405.5768,
  116.2804,  409.1786,
  170.8327,  412.4604,
  226.8685,  415.8661,
  284.3905,  418.5256,
  342.9473,  420.8686,
  402.3787,  423.0391,
  462.1274,  424.6982,
   65.2312,  349.6907,
  118.0346,  352.3848,
  172.4002,  355.2210,
  228.3763,  357.9178,
  285.9600,  360.1032,
  344.4946,  362.0295,
  403.8460,  363.7608,
  463.4921,  365.1376,
   67.4185,  293.9966,
  119.9797,  295.9970,
  174.3239,  297.9337,
  230.1838,  299.7892,
  287.5612,  301.4075,
  346.0131,  302.8616,
  405.0692,  304.3961,
  464.5705,  305.5544,
   70.1422,  238.3694,
  122.3235,  239.4965,
  176.4649,  240.6218,
  232.1148,  241.9344,
  289.2385,  242.9573,
  347.4351,  244.1687,
  406.2246,  245.0321,
  465.5231,  246.1775,
   72.9891,  183.3229,
  125.0846,  183.7455,
  178.6979,  184.1759,
  234.1546,  184.6793,
  290.8999,  185.1832,
  348.6043,  185.8912,
  407.1004,  186.5781,
  465.9749,  187.3122,
   76.1671,  129.0634,
  127.8413,  128.6934,
  181.2556,  128.4838,
  236.2337,  128.4023,
  292.4589,  128.4504,
  349.6916,  128.5668,
  407.6126,  128.8718,
  465.9575,  129.5476,
   79.5109,   76.1929,
  130.7233,   74.8973,
  183.5884,   74.1033,
  238.0737,   73.3163,
  293.8353,   72.8291,
  350.4721,   72.6100,
  407.6772,   72.6802,
  465.4727,   72.9943,
   83.9112,   24.4496,
  134.6306,   22.6158,
  187.1249,   20.9550,
  240.9166,   19.8037,
  295.9948,   18.7811,
  351.9210,   18.2613,
  408.5261,   17.9913,
  465.6562,   18.2075,
   92.4627,  407.4557,
  146.4503,  410.9232,
  201.8487,  414.3670,
  258.8775,  417.2222,
  317.0182,  419.9879,
  376.1246,  422.3173,
  435.7296,  424.2094,
  495.6286,  425.5480,
   94.3018,  351.1255,
  147.9868,  354.0160,
  203.5016,  356.6527,
  260.4854,  358.9678,
  318.5758,  361.1266,
  377.5510,  363.0680,
  437.1753,  364.7804,
  496.9691,  365.9427,
   96.2997,  294.8671,
  149.9805,  296.8234,
  205.3244,  298.8195,
  262.2173,  300.6774,
  320.1475,  302.3672,
  379.0677,  303.7958,
  438.4172,  304.9969,
  497.9452,  306.2801,
   98.8611,  238.8413,
  152.2394,  240.1969,
  207.3673,  241.2475,
  263.9300,  242.5287,
  321.5337,  243.6601,
  380.2973,  244.6842,
  439.3245,  245.7832,
  498.6326,  246.7200,
  101.5746,  183.4920,
  154.6889,  183.9569,
  209.3855,  184.4150,
  265.6441,  184.8253,
  322.9613,  185.5651,
  381.2162,  186.3364,
  439.9926,  186.9387,
  498.8092,  187.8912,
  104.5853,  128.8426,
  157.2946,  128.5715,
  211.5632,  128.3805,
  267.3729,  128.3790,
  324.2022,  128.4998,
  382.0857,  128.7439,
  440.2139,  129.2487,
  498.5192,  130.0154,
  107.7276,   75.4124,
  159.7977,   74.4415,
  213.7664,   73.5956,
  268.9554,   72.9512,
  325.2091,   72.6854,
  382.3410,   72.6288,
  439.8800,   72.8130,
  497.6351,   73.4625,
  111.7901,   23.2573,
  163.4944,   21.6713,
  216.6752,   20.3041,
  271.3309,   19.1283,
  326.9933,   18.4690,
  383.4185,   18.0684,
  440.3231,   18.1197,
  497.2680,   18.3853,
   91.8064,  438.6577,
  145.6115,  442.5589,
  201.0728,  446.1787,
  258.0880,  449.4164,
  316.1713,  452.3707,
  375.2486,  454.8351,
  434.9842,  456.8889,
  494.7495,  458.4749,
   93.2351,  382.3818,
  147.1335,  385.5829,
  202.5671,  388.5784,
  259.6001,  391.3137,
  317.7411,  393.9377,
  376.8810,  395.9166,
  436.5114,  397.6482,
  496.2936,  398.9041,
   95.2188,  326.1527,
  148.8623,  328.5778,
  204.2639,  330.8552,
  261.1452,  332.7959,
  319.2028,  334.8347,
  378.3339,  336.5806,
  437.8555,  338.0038,
  497.4372,  339.2499,
   97.3891,  269.8173,
  150.8726,  271.6272,
  206.2762,  273.1041,
  262.8711,  274.6308,
  320.7326,  276.0901,
  379.6203,  277.5144,
  438.9596,  278.5548,
  498.4130,  279.6584,
  100.0986,  214.1070,
  153.3554,  214.8704,
  208.3263,  215.8169,
  264.6968,  216.6334,
  322.2492,  217.5912,
  380.8416,  218.4889,
  439.7794,  219.4394,
  498.8142,  220.3453,
  102.8827,  158.9564,
  155.8457,  158.9698,
  210.5126,  159.1928,
  266.4661,  159.5680,
  323.6830,  159.9048,
  381.6958,  160.4139,
  440.2467,  161.1199,
  498.8505,  161.9093,
  105.9378,  104.7861,
  158.5580,  104.1839,
  212.5074,  103.7524,
  268.0936,  103.4030,
  324.7125,  103.3335,
  382.1123,  103.5273,
  440.1644,  103.9651,
  498.1531,  104.4679,
  109.2998,   51.8929,
  161.5575,   50.4998,
  215.0439,   49.4601,
  269.9083,   48.5873,
  325.8087,   48.0995,
  382.6677,   47.9526,
  440.0089,   48.0637,
  497.3887,   48.5248,
   62.5872,  436.2884,
  115.4621,  440.2901,
  169.9695,  444.0421,
  226.0554,  447.6507,
  283.5861,  450.9389,
  342.1841,  453.6168,
  401.4554,  455.9696,
  461.1799,  457.6624,
   64.2779,  380.5424,
  116.9764,  383.7840,
  171.4296,  386.8838,
  227.6421,  389.6824,
  285.0956,  392.3380,
  343.8079,  394.7450,
  402.9865,  396.6718,
  462.7886,  398.3431,
   66.2094,  324.6015,
  118.8415,  327.2009,
  173.1260,  329.6705,
  229.2884,  331.9481,
  286.6439,  333.9721,
  345.2183,  335.8432,
  404.4507,  337.4059,
  464.0988,  338.6318,
   68.5301,  268.8503,
  121.0804,  270.3787,
  175.2167,  272.1573,
  231.0900,  273.8113,
  288.2794,  275.3937,
  346.6144,  276.6308,
  405.7563,  278.0360,
  465.0490,  279.0123,
   71.4364,  213.4077,
  123.5075,  214.2453,
  177.5602,  215.3875,
  233.0384,  216.1339,
  289.9542,  217.0652,
  347.9743,  218.1473,
  406.6656,  219.0113,
  465.8132,  219.9816,
   74.5438,  158.7493,
  126.3196,  158.9222,
  179.8549,  158.9350,
  235.0391,  159.2849,
  291.5611,  159.7105,
  349.1923,  160.2266,
  407.4542,  160.7616,
  466.0145,  161.5029,
   77.7165,  105.2048,
  129.1709,  104.5037,
  182.3596,  103.9831,
  237.0492,  103.4991,
  292.9490,  103.3091,
  350.0088,  103.4897,
  407.6616,  103.7382,
  465.7656,  104.1829,
   81.3422,   52.4458,
  132.4315,   51.2122,
  185.0019,   50.0213,
  239.2070,   48.9979,
  294.5326,   48.4575,
  350.9173,   48.0476,
  407.8802,   48.2069,
  465.3894,   48.3074,
};

double m2[512]={