
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1095.594182  [mm]

       kappa1 = -1.746492e-06  [1/mm^2]

       Tx = -106.555713,  Ty = -43.493571,  Tz = 950.781365  [mm]

       Rx = -94.716356,  Ry = -0.040989,  Rz = -169.760796  [deg]

       R
       -0.984074  -0.015317   0.177098
       -0.177758   0.080787  -0.980753
        0.000715  -0.996614  -0.082223

       sx = 1.005159
       Cx = 274.721749,  Cy = 243.690730  [pixels]

       Tz / f = 0.867823

       distorted image plane error:
         mean = 1.437086,  stddev = 0.675090,  max = 3.321732  [pix],  sse = 239.035539  [pix^2]

       undistorted image plane error:
         mean = 1.408919,  stddev = 0.658906,  max = 3.202395  [pix],  sse = 229.390869  [pix^2]

       object space error:
         mean = 0.597134,  stddev = 0.278759,  max = 1.349969  [mm],  sse = 41.178424  [mm^2]

       normalized calibration error:  3.451274

