
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1057.080296  [mm]

       kappa1 = -1.665354e-06  [1/mm^2]

       Tx = -106.122187,  Ty = -43.687619,  Tz = 916.306502  [mm]

       Rx = -94.646810,  Ry = -0.090494,  Rz = -169.818981  [deg]

       R
       -0.984253  -0.015869   0.176052
       -0.176758   0.079459  -0.981042
        0.001579  -0.996712  -0.081013

       sx = 1.004984
       Cx = 274.145512,  Cy = 244.256778  [pixels]

       Tz / f = 0.866828

       distorted image plane error:
         mean = 1.425224,  stddev = 0.657592,  max = 3.198779  [pix],  sse = 233.618261  [pix^2]

       undistorted image plane error:
         mean = 1.398821,  stddev = 0.642828,  max = 3.071535  [pix],  sse = 224.730042  [pix^2]

       object space error:
         mean = 0.592224,  stddev = 0.271501,  max = 1.293180  [mm],  sse = 40.248256  [mm^2]

       normalized calibration error:  3.426459

