
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1026.698901  [mm]

       kappa1 = -1.602087e-06  [1/mm^2]

       Tx = -104.966869,  Ty = -44.772106,  Tz = 889.203774  [mm]

       Rx = -94.704667,  Ry = -0.184738,  Rz = -169.755520  [deg]

       R
       -0.984053  -0.017749   0.176989
       -0.177848   0.080141  -0.980789
        0.003224  -0.996626  -0.082019

       sx = 1.003994
       Cx = 272.025119,  Cy = 246.485718  [pixels]

       Tz / f = 0.866080

       distorted image plane error:
         mean = 1.385185,  stddev = 0.635240,  max = 2.976324  [pix],  sse = 217.889687  [pix^2]

       undistorted image plane error:
         mean = 1.360868,  stddev = 0.622675,  max = 2.854348  [pix],  sse = 210.142664  [pix^2]

       object space error:
         mean = 0.575976,  stddev = 0.262514,  max = 1.201634  [mm],  sse = 37.593307  [mm^2]

       normalized calibration error:  3.333327

