
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1029.162282  [mm]

       kappa1 = -3.712273e-06  [1/mm^2]

       Tx = -119.073895,  Ty = -50.012116,  Tz = 903.401171  [mm]

       Rx = -94.383152,  Ry = 0.460417,  Rz = -168.359422  [deg]

       R
       -0.979401  -0.007573   0.201783
       -0.201765   0.076471  -0.976444
       -0.008036  -0.997043  -0.076423

       sx = 1.008174
       Cx = 310.585154,  Cy = 250.611292  [pixels]

       Tz / f = 0.877802

       distorted image plane error:
         mean = 1.030784,  stddev = 0.461590,  max = 2.621992  [pix],  sse = 120.967057  [pix^2]

       undistorted image plane error:
         mean = 0.990836,  stddev = 0.446547,  max = 2.455908  [pix],  sse = 112.010782  [pix^2]

       object space error:
         mean = 0.424512,  stddev = 0.192143,  max = 1.051011  [mm],  sse = 20.590379  [mm^2]

       normalized calibration error:  2.424759

