
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1033.938788  [mm]

       kappa1 = -2.786888e-06  [1/mm^2]

       Tx = -117.619010,  Ty = -53.280909,  Tz = 900.349550  [mm]

       Rx = -94.574328,  Ry = 0.559319,  Rz = -168.297267  [deg]

       R
       -0.979166  -0.006648   0.202950
       -0.202824   0.080068  -0.975936
       -0.009762  -0.996767  -0.079748

       sx = 1.006482
       Cx = 307.071480,  Cy = 258.284536  [pixels]

       Tz / f = 0.870796

       distorted image plane error:
         mean = 0.998087,  stddev = 0.434834,  max = 2.479203  [pix],  sse = 112.410450  [pix^2]

       undistorted image plane error:
         mean = 0.972716,  stddev = 0.432116,  max = 2.374773  [pix],  sse = 107.438873  [pix^2]

       object space error:
         mean = 0.414038,  stddev = 0.183757,  max = 1.015446  [mm],  sse = 19.459666  [mm^2]

       normalized calibration error:  2.381826

