
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (90 points)

       f = 1037.899974  [mm]

       kappa1 = -3.013714e-06  [1/mm^2]

       Tx = -116.446088,  Ty = -46.922266,  Tz = 906.722331  [mm]

       Rx = -94.755547,  Ry = 0.526699,  Rz = -167.280039  [deg]

       R
       -0.975417  -0.009318   0.220171
       -0.220177   0.082887  -0.971932
       -0.009192  -0.996515  -0.082901

       sx = 1.006176
       Cx = 300.509946,  Cy = 239.658641  [pixels]

       Tz / f = 0.873612

       distorted image plane error:
         mean = 1.164841,  stddev = 0.629571,  max = 2.787651  [pix],  sse = 157.392912  [pix^2]

       undistorted image plane error:
         mean = 1.132272,  stddev = 0.610320,  max = 2.669511  [pix],  sse = 148.535256  [pix^2]

       object space error:
         mean = 0.483762,  stddev = 0.260269,  max = 1.135981  [mm],  sse = 27.091117  [mm^2]

       normalized calibration error:  2.770513

