
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1052.497607  [mm]

       kappa1 = -3.138926e-06  [1/mm^2]

       Tx = -119.887765,  Ty = -52.668242,  Tz = 918.516347  [mm]

       Rx = -94.420162,  Ry = 0.571681,  Rz = -167.127852  [deg]

       R
       -0.974821  -0.007471   0.222863
       -0.222765   0.077349  -0.971799
       -0.009978  -0.996976  -0.077066

       sx = 1.005062
       Cx = 315.147590,  Cy = 250.706972  [pixels]

       Tz / f = 0.872702

       distorted image plane error:
         mean = 0.863139,  stddev = 0.406557,  max = 1.894612  [pix],  sse = 85.402638  [pix^2]

       undistorted image plane error:
         mean = 0.833072,  stddev = 0.395759,  max = 1.819592  [pix],  sse = 79.803038  [pix^2]

       object space error:
         mean = 0.355802,  stddev = 0.169454,  max = 0.778211  [mm],  sse = 14.570438  [mm^2]

       normalized calibration error:  2.039457

