% Ksi_ref = [ beta, alpha, d, q0, K, r ];

Ksi_ref = [ 0 0 0 0.5*pi/180 0.5 1001;
            0 90.2*pi/180 1 -91*pi/180 4/5 0.7;
	    0 0.3*pi/180 499.5 92.5*pi/180 0.95003 -0.5;
	    0 -91*pi/180 0 0.3*pi/180 0.751 307;
	    0 89.87*pi/180 0.05 0.124*pi/180 0.998 0.005;
	    0 90.03*pi/180 -0.001 0 0.8001 -100.2];

	
Mire_ref = [eye(3,3), [0;0;100.1]; 0 0 0 1]

Camera_ref = ????
