
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (93 points)

       f = 1049.628952  [mm]

       kappa1 = -3.087476e-06  [1/mm^2]

       Tx = -119.070008,  Ty = -46.237766,  Tz = 917.791142  [mm]

       Rx = -94.758781,  Ry = 0.764288,  Rz = -168.438756  [deg]

       R
       -0.979624  -0.003603   0.200809
       -0.200397   0.083942  -0.976112
       -0.013339  -0.996464  -0.082954

       sx = 1.007616
       Cx = 305.930000,  Cy = 244.191051  [pixels]

       Tz / f = 0.874396

       distorted image plane error:
         mean = 1.204255,  stddev = 0.616891,  max = 2.635964  [pix],  sse = 169.882294  [pix^2]

       undistorted image plane error:
         mean = 1.172934,  stddev = 0.606354,  max = 2.531758  [pix],  sse = 161.772212  [pix^2]

       object space error:
         mean = 0.501056,  stddev = 0.257678,  max = 1.078019  [mm],  sse = 29.456896  [mm^2]

       normalized calibration error:  2.870337

