
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 979.082760  [mm]

       kappa1 = -3.359236e-06  [1/mm^2]

       Tx = -112.546932,  Ty = -44.946796,  Tz = 856.397986  [mm]

       Rx = -94.505546,  Ry = 0.212303,  Rz = -169.485930  [deg]

       R
       -0.983203  -0.010703   0.182199
       -0.182476   0.077911  -0.980119
       -0.003705  -0.996903  -0.078555

       sx = 1.004227
       Cx = 291.480368,  Cy = 244.293746  [pixels]

       Tz / f = 0.874694

       distorted image plane error:
         mean = 1.265414,  stddev = 0.659020,  max = 3.000645  [pix],  sse = 190.910323  [pix^2]

       undistorted image plane error:
         mean = 1.218732,  stddev = 0.628137,  max = 2.789865  [pix],  sse = 176.312571  [pix^2]

       object space error:
         mean = 0.521270,  stddev = 0.266881,  max = 1.193823  [mm],  sse = 32.165864  [mm^2]

       normalized calibration error:  2.984494

