
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1042.475424  [mm]

       kappa1 = -3.262749e-06  [1/mm^2]

       Tx = -111.152415,  Ty = -44.792215,  Tz = 913.485523  [mm]

       Rx = -94.900247,  Ry = 0.187534,  Rz = -169.358767  [deg]

       R
       -0.982797  -0.012569   0.184259
       -0.184658   0.084554  -0.979159
       -0.003273  -0.996340  -0.085421

       sx = 1.005583
       Cx = 285.462523,  Cy = 245.002339  [pixels]

       Tz / f = 0.876266

       distorted image plane error:
         mean = 1.355607,  stddev = 0.653023,  max = 3.527692  [pix],  sse = 214.664085  [pix^2]

       undistorted image plane error:
         mean = 1.304281,  stddev = 0.622286,  max = 3.351727  [pix],  sse = 198.009789  [pix^2]

       object space error:
         mean = 0.559121,  stddev = 0.266250,  max = 1.406060  [mm],  sse = 36.362090  [mm^2]

       normalized calibration error:  3.194693

