
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1033.649786  [mm]

       kappa1 = -3.367218e-06  [1/mm^2]

       Tx = -112.443036,  Ty = -45.783488,  Tz = 905.202698  [mm]

       Rx = -94.385176,  Ry = 0.252906,  Rz = -169.256197  [deg]

       R
       -0.982461  -0.009930   0.186204
       -0.186416   0.075941  -0.979532
       -0.004414  -0.997063  -0.076460

       sx = 1.004719
       Cx = 291.989245,  Cy = 244.927327  [pixels]

       Tz / f = 0.875734

       distorted image plane error:
         mean = 1.239121,  stddev = 0.641128,  max = 3.045199  [pix],  sse = 184.503189  [pix^2]

       undistorted image plane error:
         mean = 1.190796,  stddev = 0.608739,  max = 2.823252  [pix],  sse = 169.542572  [pix^2]

       object space error:
         mean = 0.509376,  stddev = 0.259237,  max = 1.207350  [mm],  sse = 30.966238  [mm^2]

       normalized calibration error:  2.915540

