
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (93 points)

       f = 1027.627420  [mm]

       kappa1 = -3.396989e-06  [1/mm^2]

       Tx = -116.972143,  Ty = -47.758738,  Tz = 900.780229  [mm]

       Rx = -94.769327,  Ry = 0.466877,  Rz = -166.818556  [deg]

       R
       -0.973620  -0.011054   0.227906
       -0.228028   0.082805  -0.970127
       -0.008148  -0.996504  -0.083142

       sx = 1.007380
       Cx = 301.817365,  Cy = 239.322258  [pixels]

       Tz / f = 0.876563

       distorted image plane error:
         mean = 1.140219,  stddev = 0.538805,  max = 2.663518  [pix],  sse = 147.617950  [pix^2]

       undistorted image plane error:
         mean = 1.106679,  stddev = 0.527184,  max = 2.564871  [pix],  sse = 139.469535  [pix^2]

       object space error:
         mean = 0.473814,  stddev = 0.224731,  max = 1.098943  [mm],  sse = 25.524807  [mm^2]

       normalized calibration error:  2.707010

