
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (95 points)

       f = 1034.155711  [mm]

       kappa1 = -3.298108e-06  [1/mm^2]

       Tx = -112.108613,  Ty = -45.176693,  Tz = 905.012404  [mm]

       Rx = -94.385487,  Ry = 0.237143,  Rz = -169.366687  [deg]

       R
       -0.982820  -0.010054   0.184294
       -0.184521   0.075915  -0.979892
       -0.004139  -0.997064  -0.076466

       sx = 1.004501
       Cx = 290.833554,  Cy = 244.092985  [pixels]

       Tz / f = 0.875122

       distorted image plane error:
         mean = 1.252758,  stddev = 0.665735,  max = 3.072998  [pix],  sse = 190.754395  [pix^2]

       undistorted image plane error:
         mean = 1.203676,  stddev = 0.630477,  max = 2.838609  [pix],  sse = 175.004549  [pix^2]

       object space error:
         mean = 0.514552,  stddev = 0.268454,  max = 1.212754  [mm],  sse = 31.926881  [mm^2]

       normalized calibration error:  2.947278

