
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (94 points)

       f = 1022.925237  [mm]

       kappa1 = -1.666355e-06  [1/mm^2]

       Tx = -105.595349,  Ty = -44.477448,  Tz = 886.238091  [mm]

       Rx = -94.685959,  Ry = -0.160883,  Rz = -169.772595  [deg]

       R
       -0.984107  -0.017259   0.176736
       -0.177555   0.079899  -0.980862
        0.002808  -0.996654  -0.081694

       sx = 1.004058
       Cx = 273.400158,  Cy = 245.862805  [pixels]

       Tz / f = 0.866376

       distorted image plane error:
         mean = 1.390610,  stddev = 0.631261,  max = 3.028868  [pix],  sse = 218.836464  [pix^2]

       undistorted image plane error:
         mean = 1.365211,  stddev = 0.617774,  max = 2.902035  [pix],  sse = 210.690254  [pix^2]

       object space error:
         mean = 0.577992,  stddev = 0.260460,  max = 1.222308  [mm],  sse = 37.712142  [mm^2]

       normalized calibration error:  3.343844

