
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1048.466047  [mm]

       kappa1 = -3.579191e-06  [1/mm^2]

       Tx = -111.957152,  Ty = -44.891680,  Tz = 920.243830  [mm]

       Rx = -94.889666,  Ry = 0.306671,  Rz = -169.552509  [deg]

       R
       -0.983407  -0.010212   0.181123
       -0.181332   0.084791  -0.979760
       -0.005352  -0.996346  -0.085236

       sx = 1.005379
       Cx = 287.503648,  Cy = 246.175369  [pixels]

       Tz / f = 0.877705

       distorted image plane error:
         mean = 1.417385,  stddev = 0.719990,  max = 3.836154  [pix],  sse = 239.581260  [pix^2]

       undistorted image plane error:
         mean = 1.355566,  stddev = 0.675238,  max = 3.606036  [pix],  sse = 217.427194  [pix^2]

       object space error:
         mean = 0.581968,  stddev = 0.289518,  max = 1.545891  [mm],  sse = 40.054401  [mm^2]

       normalized calibration error:  3.320219

