
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1062.354596  [mm]

       kappa1 = -3.311134e-06  [1/mm^2]

       Tx = -110.486868,  Ty = -44.203560,  Tz = 931.184396  [mm]

       Rx = -94.843360,  Ry = 0.186396,  Rz = -169.435054  [deg]

       R
       -0.983043  -0.012294   0.182965
       -0.183349   0.083595  -0.979487
       -0.003253  -0.996424  -0.084432

       sx = 1.005587
       Cx = 283.897917,  Cy = 243.895139  [pixels]

       Tz / f = 0.876529

       distorted image plane error:
         mean = 1.405902,  stddev = 0.689416,  max = 3.523001  [pix],  sse = 232.451005  [pix^2]

       undistorted image plane error:
         mean = 1.347756,  stddev = 0.649215,  max = 3.358074  [pix],  sse = 212.181456  [pix^2]

       object space error:
         mean = 0.577530,  stddev = 0.278050,  max = 1.436296  [mm],  sse = 38.953663  [mm^2]

       normalized calibration error:  3.300972

