
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1016.295145  [mm]

       kappa1 = -1.594414e-06  [1/mm^2]

       Tx = -105.478374,  Ty = -44.003553,  Tz = 879.697310  [mm]

       Rx = -94.678887,  Ry = -0.145066,  Rz = -169.782052  [deg]

       R
       -0.984137  -0.016954   0.176599
       -0.177392   0.079830  -0.980897
        0.002532  -0.996664  -0.081571

       sx = 1.004620
       Cx = 273.040800,  Cy = 244.799553  [pixels]

       Tz / f = 0.865592

       distorted image plane error:
         mean = 1.418345,  stddev = 0.643458,  max = 3.057339  [pix],  sse = 230.031163  [pix^2]

       undistorted image plane error:
         mean = 1.392938,  stddev = 0.631065,  max = 2.934222  [pix],  sse = 221.761166  [pix^2]

       object space error:
         mean = 0.589136,  stddev = 0.265976,  max = 1.234187  [mm],  sse = 39.622527  [mm^2]

       normalized calibration error:  3.411688

