
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (91 points)

       f = 1079.120392  [mm]

       kappa1 = -2.882573e-06  [1/mm^2]

       Tx = -118.275946,  Ty = -47.556514,  Tz = 944.300083  [mm]

       Rx = -94.732627,  Ry = 0.608059,  Rz = -167.786312  [deg]

       R
       -0.977310  -0.007118   0.211693
       -0.211546   0.082876  -0.973848
       -0.010612  -0.996534  -0.082501

       sx = 1.008134
       Cx = 304.747182,  Cy = 243.600571  [pixels]

       Tz / f = 0.875065

       distorted image plane error:
         mean = 1.271149,  stddev = 0.612890,  max = 2.776936  [pix],  sse = 180.846660  [pix^2]

       undistorted image plane error:
         mean = 1.233108,  stddev = 0.598903,  max = 2.671834  [pix],  sse = 170.652196  [pix^2]

       object space error:
         mean = 0.526331,  stddev = 0.254438,  max = 1.136715  [mm],  sse = 31.035734  [mm^2]

       normalized calibration error:  3.017156

