
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1082.144279  [mm]

       kappa1 = -3.230644e-06  [1/mm^2]

       Tx = -110.687851,  Ty = -44.585574,  Tz = 948.657414  [mm]

       Rx = -94.838341,  Ry = 0.232860,  Rz = -169.228113  [deg]

       R
       -0.982371  -0.011786   0.186570
       -0.186898   0.083615  -0.978814
       -0.004064  -0.996428  -0.084344

       sx = 1.005897
       Cx = 284.440624,  Cy = 243.807293  [pixels]

       Tz / f = 0.876646

       distorted image plane error:
         mean = 1.384779,  stddev = 0.637853,  max = 3.363493  [pix],  sse = 220.417900  [pix^2]

       undistorted image plane error:
         mean = 1.330266,  stddev = 0.603175,  max = 3.215174  [pix],  sse = 202.311813  [pix^2]

       object space error:
         mean = 0.569665,  stddev = 0.258268,  max = 1.374651  [mm],  sse = 37.099268  [mm^2]

       normalized calibration error:  3.258014

