--------------------------------------
SIZE = 640, 480
Distortion factor: k1=0.1592343450, k2=-1.3588997126, p1=-0.0052175750, p2=-0.0155883525
                  fx=813.836487, fy=815.599365, x0=301.389526, y0=226.149872, s=0.986057
825.34406 0.00000 301.38953 0.00000
0.00000 827.13187 226.14987 0.00000
0.00000 0.00000 1.00000 0.00000
--------------------------------------
Err[ 1]: 0.319309[pixel]
Err[ 2]: 0.317520[pixel]
Err[ 3]: 0.424962[pixel]
Err[ 4]: 0.460757[pixel]
Err[ 5]: 0.328579[pixel]
Err[ 6]: 0.363708[pixel]
Err[ 7]: 0.776189[pixel]
Err[ 8]: 0.409495[pixel]
Err[ 9]: 0.448534[pixel]
Err[10]: 0.170616[pixel]