
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 980.656253  [mm]

       kappa1 = -3.230853e-06  [1/mm^2]

       Tx = -113.232061,  Ty = -45.176757,  Tz = 857.246000  [mm]

       Rx = -94.485654,  Ry = 0.232390,  Rz = -169.402134  [deg]

       R
       -0.982934  -0.010409   0.183663
       -0.183913   0.077619  -0.979873
       -0.004056  -0.996929  -0.078209

       sx = 1.004295
       Cx = 293.433664,  Cy = 244.445349  [pixels]

       Tz / f = 0.874155

       distorted image plane error:
         mean = 1.192503,  stddev = 0.620618,  max = 2.768009  [pix],  sse = 169.494538  [pix^2]

       undistorted image plane error:
         mean = 1.154017,  stddev = 0.598578,  max = 2.628528  [pix],  sse = 158.506577  [pix^2]

       object space error:
         mean = 0.493432,  stddev = 0.254857,  max = 1.127354  [mm],  sse = 28.927192  [mm^2]

       normalized calibration error:  2.826103

