
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1014.756055  [mm]

       kappa1 = -3.572692e-06  [1/mm^2]

       Tx = -111.987863,  Ty = -44.728284,  Tz = 890.079233  [mm]

       Rx = -94.879378,  Ry = 0.279752,  Rz = -169.764071  [deg]

       R
       -0.984073  -0.010328   0.177467
       -0.177700   0.084569  -0.980444
       -0.004883  -0.996364  -0.085057

       sx = 1.005617
       Cx = 287.735039,  Cy = 246.775727  [pixels]

       Tz / f = 0.877136

       distorted image plane error:
         mean = 1.421364,  stddev = 0.731209,  max = 3.698788  [pix],  sse = 242.184895  [pix^2]

       undistorted image plane error:
         mean = 1.359051,  stddev = 0.682032,  max = 3.429238  [pix],  sse = 219.192745  [pix^2]

       object space error:
         mean = 0.583265,  stddev = 0.292080,  max = 1.472444  [mm],  sse = 40.338020  [mm^2]

       normalized calibration error:  3.328974

