
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1025.066759  [mm]

       kappa1 = -3.210101e-06  [1/mm^2]

       Tx = -116.451273,  Ty = -46.659987,  Tz = 898.891366  [mm]

       Rx = -94.672896,  Ry = 0.536932,  Rz = -167.092554  [deg]

       R
       -0.974689  -0.009094   0.223378
       -0.223367   0.081495  -0.971322
       -0.009371  -0.996632  -0.081463

       sx = 1.007530
       Cx = 301.195133,  Cy = 238.215509  [pixels]

       Tz / f = 0.876910

       distorted image plane error:
         mean = 1.184495,  stddev = 0.568697,  max = 2.528469  [pix],  sse = 160.235860  [pix^2]

       undistorted image plane error:
         mean = 1.146175,  stddev = 0.555787,  max = 2.437748  [pix],  sse = 150.594403  [pix^2]

       object space error:
         mean = 0.490818,  stddev = 0.236988,  max = 1.044723  [mm],  sse = 27.570932  [mm^2]

       normalized calibration error:  2.804515

