validImgPoint.y = static_cast<float>((double)cameraMatrix(1,1)*(y*cdist + (double)distCoeffs(0,2)*a3 + distCoeffs(0,3)*a1)
+ (double)cameraMatrix(1,2));
- Point2f ssdfp = *it;
if( fabs(it->x - validImgPoint.x) > imgPointErr ||
fabs(it->y - validImgPoint.y) > imgPointErr )
{