
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

data file: ./tsai_data.dat  (95 points)

       f = 1077.749676  [mm]

       kappa1 = -1.517458e-06  [1/mm^2]

       Tx = -105.872398,  Ty = -45.930660,  Tz = 933.343857  [mm]

       Rx = -94.579017,  Ry = -0.075955,  Rz = -169.427536  [deg]

       R
       -0.983023  -0.015947   0.182789
       -0.183479   0.078236  -0.979905
        0.001326  -0.996807  -0.079834

       sx = 1.005032
       Cx = 275.281525,  Cy = 246.538766  [pixels]

       Tz / f = 0.866012

       distorted image plane error:
         mean = 1.357715,  stddev = 0.622238,  max = 3.020402  [pix],  sse = 211.516954  [pix^2]

       undistorted image plane error:
         mean = 1.334118,  stddev = 0.611490,  max = 2.920186  [pix],  sse = 204.236228  [pix^2]

       object space error:
         mean = 0.563709,  stddev = 0.257805,  max = 1.238284  [mm],  sse = 36.435482  [mm^2]

       normalized calibration error:  3.267250

