function [y, q] = fval1(v,p) T = my_camera(v); points = [0 0 0 1; 1 0 0 1; 1 1 0 1; 0 1 0 1; 0 0 1 1; 1 0 1 1; 1 1 1 1; 0 1 1 1]; pcam = points*T'; xp=pcam(:,1)./pcam(:,3); yp=pcam(:,2)./pcam(:,3); xp = v(7)*xp+v(8); yp = v(9)*yp+v(10); idx = [1 2 4 5 6 7 8]; q = (xp(idx)-p(:,1)).^2+(yp(idx)-p(:,2)).^2; y = mean(q);