
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1049.220068  [mm]

       kappa1 = -1.578527e-06  [1/mm^2]

       Tx = -105.230305,  Ty = -46.551106,  Tz = 909.178204  [mm]

       Rx = -94.684287,  Ry = -0.152185,  Rz = -169.550574  [deg]

       R
       -0.983412  -0.017415   0.180548
       -0.181367   0.079831  -0.980170
        0.002656  -0.996656  -0.081665

       sx = 1.004481
       Cx = 273.389052,  Cy = 249.095275  [pixels]

       Tz / f = 0.866528

       distorted image plane error:
         mean = 1.372203,  stddev = 0.623818,  max = 3.009874  [pix],  sse = 213.187239  [pix^2]

       undistorted image plane error:
         mean = 1.348553,  stddev = 0.612527,  max = 2.912427  [pix],  sse = 205.840627  [pix^2]

       object space error:
         mean = 0.570591,  stddev = 0.258639,  max = 1.236485  [mm],  sse = 36.825090  [mm^2]

       normalized calibration error:  3.303064

