
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1056.083728  [mm]

       kappa1 = -1.692753e-06  [1/mm^2]

       Tx = -105.316757,  Ty = -43.083574,  Tz = 915.824684  [mm]

       Rx = -94.703784,  Ry = -0.116135,  Rz = -169.725230  [deg]

       R
       -0.983962  -0.016615   0.177605
       -0.178369   0.080329  -0.980679
        0.002027  -0.996630  -0.082004

       sx = 1.005390
       Cx = 271.589379,  Cy = 242.557855  [pixels]

       Tz / f = 0.867189

       distorted image plane error:
         mean = 1.424417,  stddev = 0.664960,  max = 3.341821  [pix],  sse = 234.315658  [pix^2]

       undistorted image plane error:
         mean = 1.396435,  stddev = 0.649168,  max = 3.221780  [pix],  sse = 224.866197  [pix^2]

       object space error:
         mean = 0.591660,  stddev = 0.274281,  max = 1.357187  [mm],  sse = 40.327502  [mm^2]

       normalized calibration error:  3.420733

