
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1015.787954  [mm]

       kappa1 = -3.056694e-06  [1/mm^2]

       Tx = -117.607309,  Ty = -46.761939,  Tz = 887.483594  [mm]

       Rx = -94.797662,  Ry = 0.618414,  Rz = -168.079800  [deg]

       R
       -0.978379  -0.006752   0.206709
       -0.206537   0.084055  -0.974822
       -0.010793  -0.996438  -0.083632

       sx = 1.006707
       Cx = 302.236247,  Cy = 243.376369  [pixels]

       Tz / f = 0.873690

       distorted image plane error:
         mean = 1.209224,  stddev = 0.662465,  max = 3.202683  [pix],  sse = 172.559657  [pix^2]

       undistorted image plane error:
         mean = 1.175409,  stddev = 0.639389,  max = 3.083039  [pix],  sse = 162.518034  [pix^2]

       object space error:
         mean = 0.503019,  stddev = 0.272653,  max = 1.313839  [mm],  sse = 29.716151  [mm^2]

       normalized calibration error:  2.876289

