
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1043.314438  [mm]

       kappa1 = -3.504672e-06  [1/mm^2]

       Tx = -120.057746,  Ty = -47.933093,  Tz = 914.635809  [mm]

       Rx = -94.917020,  Ry = 0.740290,  Rz = -168.330049  [deg]

       R
       -0.979247  -0.004731   0.202614
       -0.202257   0.086545  -0.975501
       -0.012920  -0.996237  -0.085706

       sx = 1.006531
       Cx = 307.903135,  Cy = 247.579595  [pixels]

       Tz / f = 0.876664

       distorted image plane error:
         mean = 1.270081,  stddev = 0.693408,  max = 3.283461  [pix],  sse = 194.253783  [pix^2]

       undistorted image plane error:
         mean = 1.228885,  stddev = 0.666345,  max = 3.147287  [pix],  sse = 181.294237  [pix^2]

       object space error:
         mean = 0.527027,  stddev = 0.284435,  max = 1.346393  [mm],  sse = 33.274533  [mm^2]

       normalized calibration error:  3.007342

