By introducing the grafted genetic algorithm, the improved algorithm uses a crossover matrix to decide the crossover probability of each individual for each generation to avoid premature convergence and has the advantage of whole search and quick convergence.

Firstly,detect the feature points in the video frames,next calculate camera s inner and external parameters according the correspondence of feature points both in the image coordinates and the world coordinates with the camera calibration technology,then set the virtual camera s model view matrix and projection matrix on OSG with the parameters calibrated.