
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (91 points)

       f = 1086.798969  [mm]

       kappa1 = -3.455970e-06  [1/mm^2]

       Tx = -121.103732,  Ty = -48.792060,  Tz = 954.302535  [mm]

       Rx = -94.843669,  Ry = 0.444385,  Rz = -167.964774  [deg]

       R
       -0.977990  -0.010048   0.208409
       -0.208507   0.084193  -0.974390
       -0.007756  -0.996399  -0.084435

       sx = 1.009763
       Cx = 311.015967,  Cy = 247.480486  [pixels]

       Tz / f = 0.878086

       distorted image plane error:
         mean = 1.272841,  stddev = 0.670494,  max = 3.026197  [pix],  sse = 187.891847  [pix^2]

       undistorted image plane error:
         mean = 1.228887,  stddev = 0.650366,  max = 2.908174  [pix],  sse = 175.492626  [pix^2]

       object space error:
         mean = 0.525682,  stddev = 0.277715,  max = 1.212647  [mm],  sse = 32.088383  [mm^2]

       normalized calibration error:  3.005432

