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