
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1037.727394  [mm]

       kappa1 = -3.455099e-06  [1/mm^2]

       Tx = -120.119757,  Ty = -50.003190,  Tz = 908.277266  [mm]

       Rx = -94.415792,  Ry = 0.835030,  Rz = -168.034808  [deg]

       R
       -0.978170  -0.001748   0.207800
       -0.207295   0.078333  -0.975137
       -0.014574  -0.996926  -0.076986

       sx = 1.006270
       Cx = 313.946193,  Cy = 248.723501  [pixels]

       Tz / f = 0.875256

       distorted image plane error:
         mean = 0.907750,  stddev = 0.419353,  max = 2.232456  [pix],  sse = 93.811609  [pix^2]

       undistorted image plane error:
         mean = 0.879158,  stddev = 0.411206,  max = 2.130061  [pix],  sse = 88.379829  [pix^2]

       object space error:
         mean = 0.376323,  stddev = 0.176516,  max = 0.915366  [mm],  sse = 16.209903  [mm^2]

       normalized calibration error:  2.152502

