
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1069.678787  [mm]

       kappa1 = -1.724448e-06  [1/mm^2]

       Tx = -105.754821,  Ty = -43.211908,  Tz = 927.963851  [mm]

       Rx = -94.755738,  Ry = -0.095270,  Rz = -169.607622  [deg]

       R
       -0.983594  -0.016586   0.179632
       -0.180388   0.081249  -0.980234
        0.001663  -0.996556  -0.082908

       sx = 1.005311
       Cx = 272.435297,  Cy = 242.375281  [pixels]

       Tz / f = 0.867516

       distorted image plane error:
         mean = 1.450882,  stddev = 0.685217,  max = 3.382014  [pix],  sse = 244.115700  [pix^2]

       undistorted image plane error:
         mean = 1.421349,  stddev = 0.668277,  max = 3.254022  [pix],  sse = 233.901803  [pix^2]

       object space error:
         mean = 0.602329,  stddev = 0.282507,  max = 1.370808  [mm],  sse = 41.968208  [mm^2]

       normalized calibration error:  3.481690

