利用最小二乘法进行拟合多元非线性方程，实现六自由度运动学逆解算法，包括最后计算压缩图像的峰值信噪比和压缩效果的源码。- Multivariate least squares fitting method of nonlinear equations, Six degrees of freedom to achieve inverse kinematics algorithm, Including the final calculation of the compressed image peak signal to noise ratio and compression of the source.