
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 978.515727  [mm]

       kappa1 = -3.285994e-06  [1/mm^2]

       Tx = -112.990956,  Ty = -45.417350,  Tz = 855.386568  [mm]

       Rx = -94.521888,  Ry = 0.218069,  Rz = -169.425610  [deg]

       R
       -0.983010  -0.010738   0.183236
       -0.183511   0.078197  -0.979903
       -0.003806  -0.996880  -0.078839

       sx = 1.003980
       Cx = 292.734747,  Cy = 245.135838  [pixels]

       Tz / f = 0.874167

       distorted image plane error:
         mean = 1.218167,  stddev = 0.632272,  max = 2.861026  [pix],  sse = 176.667958  [pix^2]

       undistorted image plane error:
         mean = 1.176733,  stddev = 0.606307,  max = 2.679470  [pix],  sse = 164.349474  [pix^2]

       object space error:
         mean = 0.503194,  stddev = 0.257746,  max = 1.146736  [mm],  sse = 29.979495  [mm^2]

       normalized calibration error:  2.881758

