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This is an add-on to the OCamCalib toolbox by Scaramuzza et al.

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![z-cam-s1-pro_2](https://user-images.githubusercontent.com/39023197/75956584-cc3b0680-5eea-11ea-96f6-d61758d22275.jpg)

https://github.com/urbste/ImprovedOcamCalib/blob/a58ec61f9bf93900f7c3e28dbaf9ff22a47d9df8/cpp_model_impl/src/cam_model_general_test.cpp#L38

I believe I followed the directions properly and got what looks to be perfect output until the "Non-linear Refinement" step. I also tried "Robust Non-linear Refinement". Both fail identically. The...