
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1036.195039  [mm]

       kappa1 = -3.055445e-06  [1/mm^2]

       Tx = -119.550045,  Ty = -53.229083,  Tz = 906.706376  [mm]

       Rx = -94.362586,  Ry = 0.595470,  Rz = -166.866984  [deg]

       R
       -0.973793  -0.007192   0.227324
       -0.227200   0.076433  -0.970844
       -0.010393  -0.997049  -0.076064

       sx = 1.006685
       Cx = 314.893314,  Cy = 250.617152  [pixels]

       Tz / f = 0.875034

       distorted image plane error:
         mean = 0.803990,  stddev = 0.416821,  max = 2.444551  [pix],  sse = 77.739564  [pix^2]

       undistorted image plane error:
         mean = 0.778886,  stddev = 0.402794,  max = 2.296530  [pix],  sse = 72.883912  [pix^2]

       object space error:
         mean = 0.333019,  stddev = 0.172594,  max = 0.986099  [mm],  sse = 13.335758  [mm^2]

       normalized calibration error:  1.905617

