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        Returns a 3x3 numpy array that represents Exterior's rotation matrix.
        
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        Sets exterior position.
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        Set the camera's primary point position (a.k.a. interior orientation).
        
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        Returns the primary point position (a.k.a. interior orientation) as a 3
        element array holding the values of x and y shift of point from sensor
        middle and sensor-point distance, in this order.
        
        Returns numpy array of 3 elements representing exterior's x, y, z
        
        Returns the glass vector, a 3-element array.
        
        Sets the affine transform parameters (x-scale, shear) applied to the
        image.
        
        Arguments:
        affine - array, holding (x-scale, shear) in order.
        
        Sets angles (omega, phi, kappa) and recalculates Dmatrix accordingly
        Parameter: o_p_k_np - array of 3 elements.
        
        Populate calibration fields from .ori and .addpar files.
        
        Arguments:
        ori_file - path to file containing exterior, interior and glass
            parameters.
        add_file - optional path to file containing distortion parameters.
        fallback_file - optional path to file used in case ``add_file`` fails
            to open.
        
        Write the calibration data to disk. Uses two output file, one for the
        linear calibration part, and one for distortion parameters.
        
        Arguments:
        filename - path to file containing exterior, interior and glass
            parameters.
        add_file - optional path to file containing distortion parameters.
        
        Returns the decentering parameters [1] as a 2 element array, 
        (p_1, p_2).
        
        Returns a numpy array of 3 elements representing omega, phi, kappa
        
        Returns the affine transform parameters [1] as a 2 element array, 
        (scx, she).
        
        Sets the parameters of decentering distortion (a.k.a. p1, p2, see [1]).
        
        Arguments:
        decent - array, holding p_i
        
        Sets the parameters for the image radial distortion, where the x/y
        coordinates are corrected by a polynomial in r = sqrt(x**2 + y**2):
        p = k1*r**2 + k2*r**4 + k3*r**6
        
        Arguments:
        dist_coeffs - length-3 array, holding k_i.
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        All arguments are optional arrays, default for all is zeros except 
        affine that defaults to [1, 0].
        
        Arguments:
        pos - camera external position (world position of primary point).
        angs - in radians CCW around the x,y,z axes respectively.
        prim_point - position of primary point rel. image plane. Object is 
            assumed to be in negative Z, and image plane in 0, so use positive
            Z coordinate.
        rad_dist - 3 radial distortion parameters, see [1].
        decent - 2 decentering parameters, see [1].
        affine - 2 parameters: scaling and x-shearing.
        glass - vector from world origin to glass, normal to glass.
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