
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1083.672919  [mm]

       kappa1 = -3.439286e-06  [1/mm^2]

       Tx = -116.256345,  Ty = -47.335056,  Tz = 952.556124  [mm]

       Rx = -94.662932,  Ry = 0.517110,  Rz = -166.929136  [deg]

       R
       -0.974051  -0.009623   0.226122
       -0.226147   0.081222  -0.970701
       -0.009025  -0.996650  -0.081290

       sx = 1.007132
       Cx = 300.938668,  Cy = 239.053545  [pixels]

       Tz / f = 0.879007

       distorted image plane error:
         mean = 1.188746,  stddev = 0.544503,  max = 2.720036  [pix],  sse = 158.696288  [pix^2]

       undistorted image plane error:
         mean = 1.149817,  stddev = 0.533506,  max = 2.616971  [pix],  sse = 149.139179  [pix^2]

       object space error:
         mean = 0.493253,  stddev = 0.227893,  max = 1.123105  [mm],  sse = 27.404799  [mm^2]

       normalized calibration error:  2.814028

