
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1046.353963  [mm]

       kappa1 = -1.566217e-06  [1/mm^2]

       Tx = -105.277933,  Ty = -45.620427,  Tz = 906.094870  [mm]

       Rx = -94.639989,  Ry = -0.139964,  Rz = -169.599394  [deg]

       R
       -0.983567  -0.016999   0.179744
       -0.180529   0.079126  -0.980382
        0.002443  -0.996720  -0.080894

       sx = 1.004202
       Cx = 273.498515,  Cy = 247.509319  [pixels]

       Tz / f = 0.865954

       distorted image plane error:
         mean = 1.353889,  stddev = 0.620814,  max = 2.845071  [pix],  sse = 208.146521  [pix^2]

       undistorted image plane error:
         mean = 1.330657,  stddev = 0.608826,  max = 2.739348  [pix],  sse = 200.913052  [pix^2]

       object space error:
         mean = 0.562736,  stddev = 0.256572,  max = 1.162264  [mm],  sse = 35.889313  [mm^2]

       normalized calibration error:  3.259015

