
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1015.162733  [mm]

       kappa1 = -1.673742e-06  [1/mm^2]

       Tx = -105.870470,  Ty = -44.440374,  Tz = 879.441199  [mm]

       Rx = -94.698615,  Ry = -0.130083,  Rz = -169.797686  [deg]

       R
       -0.984186  -0.016736   0.176346
       -0.177124   0.080218  -0.980914
        0.002270  -0.996637  -0.081914

       sx = 1.004201
       Cx = 273.874792,  Cy = 245.959495  [pixels]

       Tz / f = 0.866306

       distorted image plane error:
         mean = 1.401069,  stddev = 0.643810,  max = 3.155531  [pix],  sse = 223.069253  [pix^2]

       undistorted image plane error:
         mean = 1.375517,  stddev = 0.629838,  max = 3.022788  [pix],  sse = 214.745092  [pix^2]

       object space error:
         mean = 0.582506,  stddev = 0.265816,  max = 1.273109  [mm],  sse = 38.466700  [mm^2]

       normalized calibration error:  3.369296

