
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1057.353456  [mm]

       kappa1 = -1.705503e-06  [1/mm^2]

       Tx = -105.663464,  Ty = -43.028126,  Tz = 917.071003  [mm]

       Rx = -94.732236,  Ry = -0.110914,  Rz = -169.645364  [deg]

       R
       -0.983712  -0.016726   0.178971
       -0.179740   0.080809  -0.980389
        0.001936  -0.996589  -0.082499

       sx = 1.005318
       Cx = 272.275464,  Cy = 242.099062  [pixels]

       Tz / f = 0.867327

       distorted image plane error:
         mean = 1.436138,  stddev = 0.682121,  max = 3.410686  [pix],  sse = 239.674059  [pix^2]

       undistorted image plane error:
         mean = 1.407346,  stddev = 0.665519,  max = 3.284254  [pix],  sse = 229.793301  [pix^2]

       object space error:
         mean = 0.596393,  stddev = 0.281384,  max = 1.383524  [mm],  sse = 41.232663  [mm^2]

       normalized calibration error:  3.447227

