
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1055.783529  [mm]

       kappa1 = -3.373363e-06  [1/mm^2]

       Tx = -119.763265,  Ty = -47.735022,  Tz = 925.068647  [mm]

       Rx = -94.853638,  Ry = 0.726326,  Rz = -168.200386  [deg]

       R
       -0.978790  -0.004938   0.204806
       -0.204473   0.085406  -0.975139
       -0.012676  -0.996334  -0.084604

       sx = 1.007087
       Cx = 307.342861,  Cy = 246.377936  [pixels]

       Tz / f = 0.876192

       distorted image plane error:
         mean = 1.220215,  stddev = 0.681282,  max = 3.190581  [pix],  sse = 181.171334  [pix^2]

       undistorted image plane error:
         mean = 1.182715,  stddev = 0.655349,  max = 3.062497  [pix],  sse = 169.602269  [pix^2]

       object space error:
         mean = 0.506897,  stddev = 0.279592,  max = 1.307951  [mm],  sse = 31.087602  [mm^2]

       normalized calibration error:  2.893633

