function [v] = krd2(TH)

I=[176 492 337 37 176 492 38;
   331 291 235 269 389 345 319 ;
   1   1   1    1   1   1   1];

W=[0   0  .1345 .1345    0     0     .1345;
   0 .159 .159     0     0   .159      0;
   0   0    0      0   .026  .026    .026;
   1   1    1      1     1     1       1];


cx=TH(1);
cy=TH(2);
mx=TH(3);
my=TH(4);
phi=TH(5);
tht=TH(6);
psi=TH(7);
Pcam=[TH(8);TH(9);TH(10)];

v=0;
for i=1:7,
    point_proj = [mx 0 cx;0 my cy;0 0 1]*[0 1 0;0 0 1;1 0 0]*euler2dcm([phi;tht;psi])*(W(1:3,i) - Pcam);
    x=point_proj(1)/point_proj(3);
    y=point_proj(2)/point_proj(3);
    v=v+sqrt((I(1,i) - x)^2 + (I(2,i) - y)^2);
end