
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1019.507895  [mm]

       kappa1 = -1.624498e-06  [1/mm^2]

       Tx = -104.953865,  Ty = -44.648383,  Tz = 882.953394  [mm]

       Rx = -94.686982,  Ry = -0.200493,  Rz = -169.732856  [deg]

       R
       -0.983981  -0.017996   0.177361
       -0.178237   0.079782  -0.980748
        0.003499  -0.996650  -0.081712

       sx = 1.004042
       Cx = 272.095706,  Cy = 246.013761  [pixels]

       Tz / f = 0.866058

       distorted image plane error:
         mean = 1.380414,  stddev = 0.620012,  max = 2.910467  [pix],  sse = 214.871606  [pix^2]

       undistorted image plane error:
         mean = 1.355984,  stddev = 0.607660,  max = 2.791350  [pix],  sse = 207.177365  [pix^2]

       object space error:
         mean = 0.573777,  stddev = 0.256120,  max = 1.175213  [mm],  sse = 37.047182  [mm^2]

       normalized calibration error:  3.321166

