code: public <T extends CameraModel>T process() {
  		if( zhang99 == null )
  			throw new IllegalArgumentException("Please call configure first.");
  		zhang99.setVerbose(verbose,0);
  		if( !zhang99.process(observations) ) {
  			throw new RuntimeException("Zhang99 algorithm failed!");
  		}
  
  		structure = zhang99.getStructure();
  
  		errors = zhang99.computeErrors();
  
  		foundIntrinsic = zhang99.getCameraModel();
  		foundIntrinsic.width = imageWidth;
  		foundIntrinsic.height = imageHeight;
  
  		return (T)foundIntrinsic;
  	}
docs: After calibration points have been found this invokes the Zhang99 algorithm to
  estimate calibration parameters.  Error statistics are also computed.