
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1041.800844  [mm]

       kappa1 = -3.439529e-06  [1/mm^2]

       Tx = -112.294649,  Ty = -44.930065,  Tz = 913.462656  [mm]

       Rx = -94.887240,  Ry = 0.256937,  Rz = -169.478180  [deg]

       R
       -0.983176  -0.011165   0.182322
       -0.182608   0.084578  -0.979541
       -0.004484  -0.996354  -0.085194

       sx = 1.005487
       Cx = 288.282422,  Cy = 245.897757  [pixels]

       Tz / f = 0.876811

       distorted image plane error:
         mean = 1.359601,  stddev = 0.655459,  max = 3.683660  [pix],  sse = 215.993741  [pix^2]

       undistorted image plane error:
         mean = 1.306945,  stddev = 0.622650,  max = 3.496398  [pix],  sse = 198.713221  [pix^2]

       object space error:
         mean = 0.560611,  stddev = 0.266442,  max = 1.496920  [mm],  sse = 36.530192  [mm^2]

       normalized calibration error:  3.201108

