
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1045.442527  [mm]

       kappa1 = -1.546620e-06  [1/mm^2]

       Tx = -105.087313,  Ty = -45.840939,  Tz = 905.416344  [mm]

       Rx = -94.627248,  Ry = -0.165514,  Rz = -169.514338  [deg]

       R
       -0.983296  -0.017513   0.181167
       -0.181989   0.078802  -0.980138
        0.002889  -0.996736  -0.080673

       sx = 1.004351
       Cx = 273.103487,  Cy = 246.902066  [pixels]

       Tz / f = 0.866060

       distorted image plane error:
         mean = 1.339513,  stddev = 0.629855,  max = 2.803332  [pix],  sse = 205.558433  [pix^2]

       undistorted image plane error:
         mean = 1.316594,  stddev = 0.619348,  max = 2.714622  [pix],  sse = 198.615508  [pix^2]

       object space error:
         mean = 0.556727,  stddev = 0.261454,  max = 1.151833  [mm],  sse = 35.492167  [mm^2]

       normalized calibration error:  3.224573

