
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (95 points)

       f = 1083.172622  [mm]

       kappa1 = -2.808164e-06  [1/mm^2]

       Tx = -115.930781,  Ty = -43.689105,  Tz = 946.545281  [mm]

       Rx = -94.478347,  Ry = 0.427265,  Rz = -168.575438  [deg]

       R
       -0.980159  -0.008179   0.198044
       -0.198072   0.078008  -0.977078
       -0.007457  -0.996919  -0.078080

       sx = 1.007528
       Cx = 297.803944,  Cy = 238.233790  [pixels]

       Tz / f = 0.873864

       distorted image plane error:
         mean = 1.189222,  stddev = 0.592092,  max = 3.163250  [pix],  sse = 167.307597  [pix^2]

       undistorted image plane error:
         mean = 1.158838,  stddev = 0.576734,  max = 3.039290  [pix],  sse = 158.842489  [pix^2]

       object space error:
         mean = 0.494859,  stddev = 0.245832,  max = 1.291182  [mm],  sse = 28.944911  [mm^2]

       normalized calibration error:  2.836530

