*?This?file?contains?routines?for?calibrating?Tsai‘s?11?parameter?camera?model.?*
*?The?camera?model?is?based?on?the?pin?hole?model?of?3D-2D?perspective??????????*
*?projection?with?1st?order?radial?lens?distortion.??The?model?consists?of??????*
*?5?internal?（also?called?intrinsic?or?interior）?camera?parameters:?????????????*
*???????????????????????????????????????????????????????????????????????????????*
*???????f???????-?effective?focal?length?of?the?pin?hole?camera?????????????????*
*???????kappa1??-?1st?order?radial?lens?distortion?coefficient??????????????????*
*???????Cx?Cy??-?coordinates?of?center?of?radial?lens?distortion???????????????*
*		??（also?used?as?the?piercing?point?of?the?camera?coordinate	*
*		???frame‘s?Z?axis?with?the?camera‘s?sensor?plane）???????????????*
*???????sx??????-?uncertainty?factor?for?scale?of?horizontal?scanline???????????*
*???????????????????????????????????????????????????????????????????????????????*
*?and?6?external?（also?called?extrinsic?or?exterior）?camera?parameters:?????????*
*???????????????????????????????????????????????????????????????????????????????*
*???????Rx?Ry?Rz?Tx?Ty?Tz??-?rotational?and?translational?components?of????*
*?????????????????????????????????the?transform?between?the?world‘s?coordinate??*
*?????????????????????????????????frame?and?the?camera‘s?coordinate?frame.??????*
*???????????????????????????????????????????????????????????????????????????????*
*?Data?for?model?calibration?consists?of?the?（xyz）?world?coordinates?of?a?????*
*?feature?point?（in?mm）?and?the?corresponding?coordinates?（XfYf）?（in?pixels）???*
*?of?the?feature?point?in?the?image.??Two?types?of?calibration?are?available:???*
*???????????????????????????????????????????????????????????????????????????????*
*???????coplanar?????-?all?of?the?calibration?points?lie?in?a?single?plane??????*
*???????non-coplanar?-?the?calibration?points?do?not?lie?in?a?single?plane??????*
*???????????????????????????????????????????????????????????????????????????????*
*?This?file?contains?routines?for?two?levels?of?calibration.??The?first?level???*
*?of?calibration?is?a?direct?implementation?of?Tsai‘s?algorithm?in?which?only???*
*?the?f?Tz?and?kappa1?parameters?are?optimized?for.??The?routines?are:?????????*
*???????????????????????????????????????????????????????????????????????????????*
*???????coplanar_calibration?（）?????????????????????????????????????????????????*
*???????noncoplanar_calibration?（）??????????????????????????????????????????????*
*???????????????????????????????????????????????????????????????????????????????*
*?The?second?level?of?calibration?optimizes?for?everything.??This?level?is??????*
*?very?slow?but?provides?the?most?accurate?calibration.??The?routines?are:??????*
*???????????????????????????????????????????????????????????????????????????????*
*???????coplanar_calibration_with_full_optimization?（）??????????????????????????*
*???????noncoplanar_calibration_with_full_