
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1068.876312  [mm]

       kappa1 = -3.223699e-06  [1/mm^2]

       Tx = -110.984099,  Ty = -44.602695,  Tz = 937.026460  [mm]

       Rx = -94.820851,  Ry = 0.241105,  Rz = -169.312763  [deg]

       R
       -0.982645  -0.011465   0.185139
       -0.185446   0.083360  -0.979112
       -0.004208  -0.996454  -0.084040

       sx = 1.006088
       Cx = 285.120829,  Cy = 244.269665  [pixels]

       Tz / f = 0.876646

       distorted image plane error:
         mean = 1.352934,  stddev = 0.638394,  max = 3.392255  [pix],  sse = 212.200354  [pix^2]

       undistorted image plane error:
         mean = 1.302265,  stddev = 0.607902,  max = 3.231810  [pix],  sse = 195.847019  [pix^2]

       object space error:
         mean = 0.557949,  stddev = 0.260416,  max = 1.361376  [mm],  sse = 35.948881  [mm^2]

       normalized calibration error:  3.189603

