
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1045.312690  [mm]

       kappa1 = -3.177408e-06  [1/mm^2]

       Tx = -118.785122,  Ty = -52.405209,  Tz = 914.987263  [mm]

       Rx = -94.286554,  Ry = 0.467235,  Rz = -166.549398  [deg]

       R
       -0.972538  -0.009477   0.232549
       -0.232599   0.074586  -0.969708
       -0.008155  -0.997170  -0.074742

       sx = 1.005426
       Cx = 313.697434,  Cy = 246.901723  [pixels]

       Tz / f = 0.875324

       distorted image plane error:
         mean = 0.793830,  stddev = 0.388830,  max = 1.654246  [pix],  sse = 74.077520  [pix^2]

       undistorted image plane error:
         mean = 0.771107,  stddev = 0.378529,  max = 1.602119  [pix],  sse = 69.956239  [pix^2]

       object space error:
         mean = 0.329902,  stddev = 0.162246,  max = 0.703863  [mm],  sse = 12.813799  [mm^2]

       normalized calibration error:  1.886700

