由于该算法直接优化摄像机的旋转角度，所以本文的标定方案能够容易地满足旋转矩阵正交约束条件。
Because the algorithm optimized the rotation angles directly, the orthonormal constraints were easily satisfied in the present method.
该标定方案直接优化摄像机相对于世界坐标系的旋转角度，因此能够在获得精确解的同时，保证旋转矩阵的正交约束条件。
Because the calibration method directly optimizes the camera rotation angles relative to the world coordinate system, it ensures the orthonormal constraints as well as the precise solutions.
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