
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1067.164157  [mm]

       kappa1 = -1.564601e-06  [1/mm^2]

       Tx = -105.131402,  Ty = -45.935781,  Tz = 924.446741  [mm]

       Rx = -94.677737,  Ry = -0.146985,  Rz = -169.617124  [deg]

       R
       -0.983622  -0.017213   0.179419
       -0.180225   0.079755  -0.980387
        0.002565  -0.996666  -0.081551

       sx = 1.004155
       Cx = 273.064718,  Cy = 248.385139  [pixels]

       Tz / f = 0.866265

       distorted image plane error:
         mean = 1.388353,  stddev = 0.628816,  max = 2.904663  [pix],  sse = 217.960466  [pix^2]

       undistorted image plane error:
         mean = 1.364538,  stddev = 0.616685,  max = 2.782256  [pix],  sse = 210.392495  [pix^2]

       object space error:
         mean = 0.577300,  stddev = 0.260369,  max = 1.170594  [mm],  sse = 37.632541  [mm^2]

       normalized calibration error:  3.342087

