
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1082.292938  [mm]

       kappa1 = -3.086291e-06  [1/mm^2]

       Tx = -111.307183,  Ty = -44.882188,  Tz = 947.737373  [mm]

       Rx = -94.870989,  Ry = 0.242284,  Rz = -168.974154  [deg]

       R
       -0.981532  -0.012104   0.190913
       -0.191250   0.084151  -0.977927
       -0.004229  -0.996380  -0.084912

       sx = 1.005393
       Cx = 286.060770,  Cy = 243.310875  [pixels]

       Tz / f = 0.875675

       distorted image plane error:
         mean = 1.320384,  stddev = 0.575148,  max = 3.299224  [pix],  sse = 196.719076  [pix^2]

       undistorted image plane error:
         mean = 1.276323,  stddev = 0.553725,  max = 3.167983  [pix],  sse = 183.576643  [pix^2]

       object space error:
         mean = 0.546480,  stddev = 0.236807,  max = 1.352601  [mm],  sse = 33.642093  [mm^2]

       normalized calibration error:  3.125846

