
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1026.874609  [mm]

       kappa1 = -3.215853e-06  [1/mm^2]

       Tx = -120.354696,  Ty = -50.872424,  Tz = 900.522995  [mm]

       Rx = -94.239321,  Ry = 0.496481,  Rz = -167.832495  [deg]

       R
       -0.977499  -0.007133   0.210820
       -0.210763   0.074083  -0.974726
       -0.008665  -0.997227  -0.073920

       sx = 1.007072
       Cx = 314.770974,  Cy = 249.540241  [pixels]

       Tz / f = 0.876955

       distorted image plane error:
         mean = 0.867593,  stddev = 0.448006,  max = 2.883448  [pix],  sse = 89.421331  [pix^2]

       undistorted image plane error:
         mean = 0.841942,  stddev = 0.435787,  max = 2.743907  [pix],  sse = 84.295097  [pix^2]

       object space error:
         mean = 0.360247,  stddev = 0.186350,  max = 1.179977  [mm],  sse = 15.428699  [mm^2]

       normalized calibration error:  2.060582

