
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (89 points)

       f = 1077.056921  [mm]

       kappa1 = -3.689557e-06  [1/mm^2]

       Tx = -117.039004,  Ty = -45.695892,  Tz = 945.047922  [mm]

       Rx = -94.709332,  Ry = 0.538644,  Rz = -167.479320  [deg]

       R
       -0.976175  -0.008652   0.216814
       -0.216782   0.082179  -0.972755
       -0.009401  -0.996580  -0.082097

       sx = 1.005514
       Cx = 301.823518,  Cy = 237.810927  [pixels]

       Tz / f = 0.877435

       distorted image plane error:
         mean = 1.200146,  stddev = 0.617609,  max = 2.741443  [pix],  sse = 161.758047  [pix^2]

       undistorted image plane error:
         mean = 1.155705,  stddev = 0.595124,  max = 2.626777  [pix],  sse = 150.040416  [pix^2]

       object space error:
         mean = 0.495557,  stddev = 0.254340,  max = 1.124769  [mm],  sse = 27.548970  [mm^2]

       normalized calibration error:  2.829055

