
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1068.372191  [mm]

       kappa1 = -1.722378e-06  [1/mm^2]

       Tx = -105.970615,  Ty = -43.214126,  Tz = 926.750013  [mm]

       Rx = -94.689447,  Ry = -0.087657,  Rz = -169.779904  [deg]

       R
       -0.984132  -0.016006   0.176713
       -0.177430   0.080187  -0.980861
        0.001530  -0.996651  -0.081755

       sx = 1.004875
       Cx = 273.408077,  Cy = 243.077777  [pixels]

       Tz / f = 0.867441

       distorted image plane error:
         mean = 1.451430,  stddev = 0.677159,  max = 3.403560  [pix],  sse = 243.234732  [pix^2]

       undistorted image plane error:
         mean = 1.423628,  stddev = 0.661794,  max = 3.279741  [pix],  sse = 233.707509  [pix^2]

       object space error:
         mean = 0.603198,  stddev = 0.279680,  max = 1.382581  [mm],  sse = 41.918347  [mm^2]

       normalized calibration error:  3.487281

