
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 982.897163  [mm]

       kappa1 = -3.415871e-06  [1/mm^2]

       Tx = -121.293960,  Ty = -46.264752,  Tz = 857.713393  [mm]

       Rx = -94.459966,  Ry = 0.913896,  Rz = -169.130811  [deg]

       R
       -0.981935   0.000953   0.189214
       -0.188543   0.079366  -0.978853
       -0.015950  -0.996845  -0.077753

       sx = 1.005647
       Cx = 314.483018,  Cy = 245.834263  [pixels]

       Tz / f = 0.872638

       distorted image plane error:
         mean = 1.067622,  stddev = 0.501952,  max = 2.680274  [pix],  sse = 131.966296  [pix^2]

       undistorted image plane error:
         mean = 1.034639,  stddev = 0.484906,  max = 2.572630  [pix],  sse = 123.797917  [pix^2]

       object space error:
         mean = 0.442250,  stddev = 0.207329,  max = 1.103985  [mm],  sse = 22.621146  [mm^2]

       normalized calibration error:  2.534338

