
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1077.175146  [mm]

       kappa1 = -2.559427e-06  [1/mm^2]

       Tx = -115.373569,  Ty = -43.244297,  Tz = 940.075825  [mm]

       Rx = -94.472963,  Ry = 0.416032,  Rz = -168.773616  [deg]

       R
       -0.980840  -0.008083   0.194649
       -0.194681   0.077906  -0.977768
       -0.007261  -0.996928  -0.077987

       sx = 1.007514
       Cx = 296.306694,  Cy = 238.191715  [pixels]

       Tz / f = 0.872723

       distorted image plane error:
         mean = 1.238445,  stddev = 0.636856,  max = 3.440816  [pix],  sse = 183.831013  [pix^2]

       undistorted image plane error:
         mean = 1.206362,  stddev = 0.618333,  max = 3.298926  [pix],  sse = 174.193893  [pix^2]

       object space error:
         mean = 0.514076,  stddev = 0.262418,  max = 1.398630  [mm],  sse = 31.579122  [mm^2]

       normalized calibration error:  2.953294

