
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1034.488207  [mm]

       kappa1 = -1.694503e-06  [1/mm^2]

       Tx = -106.375976,  Ty = -43.027507,  Tz = 896.726568  [mm]

       Rx = -94.656950,  Ry = -0.104703,  Rz = -169.800732  [deg]

       R
       -0.984196  -0.016169   0.176342
       -0.177072   0.079584  -0.980975
        0.001827  -0.996697  -0.081190

       sx = 1.004984
       Cx = 274.486970,  Cy = 242.672998  [pixels]

       Tz / f = 0.866831

       distorted image plane error:
         mean = 1.427177,  stddev = 0.678954,  max = 3.373055  [pix],  sse = 236.831162  [pix^2]

       undistorted image plane error:
         mean = 1.400431,  stddev = 0.664133,  max = 3.248245  [pix],  sse = 227.775419  [pix^2]

       object space error:
         mean = 0.593203,  stddev = 0.280764,  max = 1.368569  [mm],  sse = 40.839372  [mm^2]

       normalized calibration error:  3.430377

