
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (95 points)

       f = 1070.813932  [mm]

       kappa1 = -2.587142e-06  [1/mm^2]

       Tx = -115.150308,  Ty = -43.343650,  Tz = 934.282596  [mm]

       Rx = -94.531056,  Ry = 0.370614,  Rz = -168.694304  [deg]

       R
       -0.980575  -0.009164   0.195932
       -0.196040   0.078731  -0.977430
       -0.006468  -0.996854  -0.078998

       sx = 1.007099
       Cx = 295.762792,  Cy = 238.072048  [pixels]

       Tz / f = 0.872498

       distorted image plane error:
         mean = 1.224943,  stddev = 0.636342,  max = 3.449814  [pix],  sse = 180.609537  [pix^2]

       undistorted image plane error:
         mean = 1.193414,  stddev = 0.618131,  max = 3.308857  [pix],  sse = 171.218666  [pix^2]

       object space error:
         mean = 0.508791,  stddev = 0.262272,  max = 1.403101  [mm],  sse = 31.058392  [mm^2]

       normalized calibration error:  2.921570

