
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1054.730730  [mm]

       kappa1 = -3.236694e-06  [1/mm^2]

       Tx = -119.512151,  Ty = -51.780407,  Tz = 924.453951  [mm]

       Rx = -94.204785,  Ry = 0.471001,  Rz = -167.212137  [deg]

       R
       -0.975163  -0.008234   0.221334
       -0.221334   0.073317  -0.972438
       -0.008220  -0.997275  -0.073319

       sx = 1.005575
       Cx = 314.150496,  Cy = 248.583466  [pixels]

       Tz / f = 0.876483

       distorted image plane error:
         mean = 0.810135,  stddev = 0.374611,  max = 2.076879  [pix],  sse = 75.541542  [pix^2]

       undistorted image plane error:
         mean = 0.786795,  stddev = 0.365589,  max = 1.960494  [pix],  sse = 71.373030  [pix^2]

       object space error:
         mean = 0.336812,  stddev = 0.156592,  max = 0.842415  [mm],  sse = 13.081962  [mm^2]

       normalized calibration error:  1.925418

