//cv::Mat uvp = cv::Mat::zeros(2, probp.size(), CV_8UC1);

        cv::Mat uvp = cv::Mat::zeros(2, probp.size(), CV_64FC1);//data-type...

		for (unsigned int i = 0; i <probp.size(); i++ )

		{

			uvp.at<float>(0, i) = probp[i].x;

			uvp.at<float>(1, i) = probp[i].y;

		}

		cv::Mat ipmps, xyp;

		imagetoground(uvp, xyp, h, roll, pitch, camera_param_KK);

//imagetoground...

void imagetoground(cv::Mat& uv,  cv::Mat& xy, double ht, double roll, double pitch, double* camera_param_KK)

{

	std::cout << "111" << std::endl;

	int height = (int)(ht*1000); //unit-mm.

	double fx = camera_param_KK[0];

	double fy = camera_param_KK[4];

    double cx = camera_param_KK[2];

	double cy = camera_param_KK[5]; 

	double c1 = cos(pitch*PI / 180);

	double s1 = sin(pitch*PI / 180);

	double c2 = cos(roll*PI / 180);

	double s2 = sin(roll*PI / 180);

	cv::Mat Tf = (cv::Mat_<double>(3, 3) << fx, 0, cx,

		 0, fy, cy,

		 0, 0, 1);

	cv::Mat Tx = (cv::Mat_<double>(3, 3) << 1, 0, 0,

		 0, c1, s1,

		 0, -s1, c1);

    cv::Mat T = Tx.inv() * Tf.inv();

	T.rowRange(0, 2) = T.rowRange(0, 2)*(-height);

	cv::Mat temp = cv::Mat::ones(3, uv.cols, CV_64FC1);	

	uv.copyTo(temp.rowRange(0, 2) ) ;

	cv::Mat xyt = T*temp;

	xyt.rowRange(0, 1) = xyt.rowRange(0, 1) / xyt.rowRange(2, 3);

	xyt.rowRange(1, 2) = xyt.rowRange(1, 2) / xyt.rowRange(2, 3);

	xyt.rowRange(0, 2).copyTo(xy);//deep-copy...

}