
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1019.540213  [mm]

       kappa1 = -3.337753e-06  [1/mm^2]

       Tx = -118.654379,  Ty = -49.269509,  Tz = 891.362924  [mm]

       Rx = -94.468983,  Ry = 0.467390,  Rz = -168.535869  [deg]

       R
       -0.980017  -0.007516   0.198773
       -0.198748   0.077981  -0.976943
       -0.008157  -0.996926  -0.077917

       sx = 1.008375
       Cx = 309.159995,  Cy = 250.096654  [pixels]

       Tz / f = 0.874279

       distorted image plane error:
         mean = 1.074482,  stddev = 0.504398,  max = 2.619652  [pix],  sse = 133.593843  [pix^2]

       undistorted image plane error:
         mean = 1.036591,  stddev = 0.488483,  max = 2.460712  [pix],  sse = 124.509272  [pix^2]

       object space error:
         mean = 0.442325,  stddev = 0.208659,  max = 1.048655  [mm],  sse = 22.679543  [mm^2]

       normalized calibration error:  2.537284

