
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1042.450587  [mm]

       kappa1 = -3.278309e-06  [1/mm^2]

       Tx = -112.151073,  Ty = -45.301159,  Tz = 912.167390  [mm]

       Rx = -94.387462,  Ry = 0.269471,  Rz = -169.352458  [deg]

       R
       -0.982772  -0.009526   0.184579
       -0.184765   0.076050  -0.979836
       -0.004703  -0.997058  -0.076500

       sx = 1.004413
       Cx = 291.008880,  Cy = 244.333284  [pixels]

       Tz / f = 0.875022

       distorted image plane error:
         mean = 1.248378,  stddev = 0.645456,  max = 3.070706  [pix],  sse = 187.214131  [pix^2]

       undistorted image plane error:
         mean = 1.200682,  stddev = 0.612491,  max = 2.844051  [pix],  sse = 172.219132  [pix^2]

       object space error:
         mean = 0.513301,  stddev = 0.260997,  max = 1.215216  [mm],  sse = 31.433655  [mm^2]

       normalized calibration error:  2.939954

