
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1065.165084  [mm]

       kappa1 = -3.189014e-06  [1/mm^2]

       Tx = -111.764904,  Ty = -44.704220,  Tz = 933.052447  [mm]

       Rx = -94.868382,  Ry = 0.247900,  Rz = -169.104042  [deg]

       R
       -0.981963  -0.011809   0.188705
       -0.189024   0.084152  -0.978360
       -0.004327  -0.996383  -0.084866

       sx = 1.005467
       Cx = 287.085047,  Cy = 243.533402  [pixels]

       Tz / f = 0.875970

       distorted image plane error:
         mean = 1.326531,  stddev = 0.586585,  max = 3.386234  [pix],  sse = 199.513626  [pix^2]

       undistorted image plane error:
         mean = 1.280358,  stddev = 0.564524,  max = 3.243186  [pix],  sse = 185.691632  [pix^2]

       object space error:
         mean = 0.548615,  stddev = 0.241893,  max = 1.386121  [mm],  sse = 34.093142  [mm^2]

       normalized calibration error:  3.135921

