
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1060.815157  [mm]

       kappa1 = -1.750152e-06  [1/mm^2]

       Tx = -105.723870,  Ty = -42.996866,  Tz = 920.625002  [mm]

       Rx = -94.729876,  Ry = -0.123708,  Rz = -169.549852  [deg]

       R
       -0.983411  -0.017072   0.180587
       -0.181380   0.080700  -0.980096
        0.002159  -0.996592  -0.082458

       sx = 1.005251
       Cx = 272.329523,  Cy = 241.563182  [pixels]

       Tz / f = 0.867847

       distorted image plane error:
         mean = 1.442579,  stddev = 0.683260,  max = 3.300247  [pix],  sse = 241.581624  [pix^2]

       undistorted image plane error:
         mean = 1.412807,  stddev = 0.666455,  max = 3.179502  [pix],  sse = 231.373660  [pix^2]

       object space error:
         mean = 0.599120,  stddev = 0.281855,  max = 1.340438  [mm],  sse = 41.567350  [mm^2]

       normalized calibration error:  3.460717

