
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1051.001411  [mm]

       kappa1 = -3.202632e-06  [1/mm^2]

       Tx = -119.126934,  Ty = -50.100137,  Tz = 917.859261  [mm]

       Rx = -94.407748,  Ry = 0.547222,  Rz = -168.175741  [deg]

       R
       -0.978736  -0.006428   0.205023
       -0.204901   0.077174  -0.975735
       -0.009551  -0.996997  -0.076850

       sx = 1.006353
       Cx = 310.990206,  Cy = 249.826763  [pixels]

       Tz / f = 0.873319

       distorted image plane error:
         mean = 0.930454,  stddev = 0.410453,  max = 2.100941  [pix],  sse = 97.047943  [pix^2]

       undistorted image plane error:
         mean = 0.901479,  stddev = 0.404018,  max = 2.023149  [pix],  sse = 91.570952  [pix^2]

       object space error:
         mean = 0.384907,  stddev = 0.172289,  max = 0.865862  [mm],  sse = 16.686962  [mm^2]

       normalized calibration error:  2.207314

