
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (90 points)

       f = 1076.385248  [mm]

       kappa1 = -3.393714e-06  [1/mm^2]

       Tx = -117.793087,  Ty = -47.031833,  Tz = 943.505933  [mm]

       Rx = -94.721471,  Ry = 0.482095,  Rz = -167.524228  [deg]

       R
       -0.976353  -0.009594   0.215970
       -0.216019   0.082180  -0.972925
       -0.008414  -0.996571  -0.082309

       sx = 1.008887
       Cx = 303.747823,  Cy = 241.490352  [pixels]

       Tz / f = 0.876550

       distorted image plane error:
         mean = 1.284822,  stddev = 0.576322,  max = 2.612459  [pix],  sse = 178.130313  [pix^2]

       undistorted image plane error:
         mean = 1.243091,  stddev = 0.567267,  max = 2.508346  [pix],  sse = 167.714303  [pix^2]

       object space error:
         mean = 0.531922,  stddev = 0.243255,  max = 1.072252  [mm],  sse = 30.731063  [mm^2]

       normalized calibration error:  3.041660

