
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1062.535934  [mm]

       kappa1 = -1.712432e-06  [1/mm^2]

       Tx = -105.649332,  Ty = -42.957823,  Tz = 921.745001  [mm]

       Rx = -94.700830,  Ry = -0.099889,  Rz = -169.675670  [deg]

       R
       -0.983808  -0.016397   0.178477
       -0.179220   0.080315  -0.980525
        0.001743  -0.996635  -0.081953

       sx = 1.005410
       Cx = 272.280322,  Cy = 242.039407  [pixels]

       Tz / f = 0.867495

       distorted image plane error:
         mean = 1.440363,  stddev = 0.673847,  max = 3.333542  [pix],  sse = 239.773822  [pix^2]

       undistorted image plane error:
         mean = 1.411154,  stddev = 0.657265,  max = 3.209586  [pix],  sse = 229.786636  [pix^2]

       object space error:
         mean = 0.597998,  stddev = 0.277908,  max = 1.352208  [mm],  sse = 41.232016  [mm^2]

       normalized calibration error:  3.456758

