
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1047.640816  [mm]

       kappa1 = -3.071262e-06  [1/mm^2]

       Tx = -119.591523,  Ty = -50.659523,  Tz = 916.231528  [mm]

       Rx = -94.373869,  Ry = 0.682322,  Rz = -167.916447  [deg]

       R
       -0.977774  -0.004354   0.209616
       -0.209323   0.077060  -0.974805
       -0.011908  -0.997017  -0.076259

       sx = 1.006134
       Cx = 312.922892,  Cy = 249.721623  [pixels]

       Tz / f = 0.874566

       distorted image plane error:
         mean = 0.824660,  stddev = 0.439796,  max = 2.602235  [pix],  sse = 81.914121  [pix^2]

       undistorted image plane error:
         mean = 0.803037,  stddev = 0.429329,  max = 2.473797  [pix],  sse = 77.759679  [pix^2]

       object space error:
         mean = 0.343105,  stddev = 0.183262,  max = 1.061859  [mm],  sse = 14.189157  [mm^2]

       normalized calibration error:  1.965615

