
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1080.433569  [mm]

       kappa1 = -1.628037e-06  [1/mm^2]

       Tx = -105.090118,  Ty = -44.123685,  Tz = 936.662300  [mm]

       Rx = -94.684030,  Ry = -0.117617,  Rz = -169.807656  [deg]

       R
       -0.984217  -0.016464   0.176197
       -0.176953   0.080010  -0.980962
        0.002053  -0.996658  -0.081661

       sx = 1.004676
       Cx = 271.796931,  Cy = 245.242471  [pixels]

       Tz / f = 0.866932

       distorted image plane error:
         mean = 1.426313,  stddev = 0.661267,  max = 3.115195  [pix],  sse = 234.368762  [pix^2]

       undistorted image plane error:
         mean = 1.399939,  stddev = 0.646851,  max = 2.987261  [pix],  sse = 225.515030  [pix^2]

       object space error:
         mean = 0.592503,  stddev = 0.273206,  max = 1.257401  [mm],  sse = 40.367027  [mm^2]

       normalized calibration error:  3.429152

