
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1058.503373  [mm]

       kappa1 = -3.287893e-06  [1/mm^2]

       Tx = -119.684372,  Ty = -53.555072,  Tz = 927.265735  [mm]

       Rx = -94.336476,  Ry = 0.592906,  Rz = -166.978670  [deg]

       R
       -0.974234  -0.006984   0.225431
       -0.225302   0.075994  -0.971321
       -0.010348  -0.997084  -0.075610

       sx = 1.006750
       Cx = 314.930932,  Cy = 251.984585  [pixels]

       Tz / f = 0.876016

       distorted image plane error:
         mean = 0.810884,  stddev = 0.360374,  max = 2.010645  [pix],  sse = 74.673339  [pix^2]

       undistorted image plane error:
         mean = 0.784221,  stddev = 0.353054,  max = 1.895062  [pix],  sse = 70.141980  [pix^2]

       object space error:
         mean = 0.335506,  stddev = 0.151297,  max = 0.814216  [mm],  sse = 12.845350  [mm^2]

       normalized calibration error:  1.918784

