
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1049.316465  [mm]

       kappa1 = -3.544020e-06  [1/mm^2]

       Tx = -119.758188,  Ty = -51.068279,  Tz = 919.408062  [mm]

       Rx = -94.209441,  Ry = 0.542660,  Rz = -167.333940  [deg]

       R
       -0.975621  -0.006879   0.219355
       -0.219258   0.073687  -0.972880
       -0.009471  -0.997258  -0.073399

       sx = 1.004888
       Cx = 314.590827,  Cy = 247.597125  [pixels]

       Tz / f = 0.876197

       distorted image plane error:
         mean = 0.826337,  stddev = 0.429495,  max = 2.071788  [pix],  sse = 82.209003  [pix^2]

       undistorted image plane error:
         mean = 0.797047,  stddev = 0.412732,  max = 1.960506  [pix],  sse = 76.364635  [pix^2]

       object space error:
         mean = 0.341645,  stddev = 0.177223,  max = 0.841613  [mm],  sse = 14.040849  [mm^2]

       normalized calibration error:  1.950874

