
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (94 points)

       f = 1019.190770  [mm]

       kappa1 = -1.695369e-06  [1/mm^2]

       Tx = -106.059096,  Ty = -44.253859,  Tz = 883.073787  [mm]

       Rx = -94.684760,  Ry = -0.113865,  Rz = -169.808934  [deg]

       R
       -0.984221  -0.016400   0.176180
       -0.176931   0.080034  -0.980964
        0.001987  -0.996657  -0.081673

       sx = 1.004334
       Cx = 274.214232,  Cy = 245.576915  [pixels]

       Tz / f = 0.866446

       distorted image plane error:
         mean = 1.398099,  stddev = 0.646280,  max = 3.276904  [pix],  sse = 222.583858  [pix^2]

       undistorted image plane error:
         mean = 1.372000,  stddev = 0.631700,  max = 3.138585  [pix],  sse = 214.055429  [pix^2]

       object space error:
         mean = 0.580911,  stddev = 0.266294,  max = 1.321983  [mm],  sse = 38.315854  [mm^2]

       normalized calibration error:  3.360581

