一个计算reprojection error的小程序

double reprojectionErrorCalculation(IplImage *rgbImage, CvMat *objectPoints, CvMat *imagePoints, CvMat *calibrationMatrix, CvMat *rotationMatrix, CvMat *translationVector){
	   IplImage* img=cvCreateImage(cvSize(rgbImage->width,rgbImage->height),rgbImage->depth,rgbImage->nChannels);
	   cvCopy(rgbImage,img);
	   int numPoints=objectPoints->height;
	   CvMat* translationMatrix=cvCreateMat(3,numPoints,CV_32FC1);
	   for(int i=0;i<3;i++){
		   float* ptr=(float*)(translationMatrix->data.ptr+i*translationMatrix->step);
		   float* ptrTranslation=(float*)(translationVector->data.ptr+i*translationVector->step);
		   for(int j=0;j<numPoints;j++){
		       *(ptr+j)=*ptrTranslation;
		   }
	   }

	   CvMat* objectPointsTranspose=cvCreateMat(3,numPoints,CV_32FC1);
	   cvTranspose(objectPoints,objectPointsTranspose);
	   CvMat* imagePointsHomogeneous=cvCreateMat(3,n