
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1045.493042  [mm]

       kappa1 = -2.800837e-06  [1/mm^2]

       Tx = -119.575336,  Ty = -50.523108,  Tz = 912.689843  [mm]

       Rx = -94.393213,  Ry = 0.594842,  Rz = -167.791417  [deg]

       R
       -0.977332  -0.006082   0.211627
       -0.211460   0.077058  -0.974344
       -0.010382  -0.997008  -0.076597

       sx = 1.005929
       Cx = 312.965766,  Cy = 248.722009  [pixels]

       Tz / f = 0.872976

       distorted image plane error:
         mean = 0.853078,  stddev = 0.472503,  max = 2.557855  [pix],  sse = 89.170892  [pix^2]

       undistorted image plane error:
         mean = 0.829087,  stddev = 0.460642,  max = 2.439988  [pix],  sse = 84.347949  [pix^2]

       object space error:
         mean = 0.353421,  stddev = 0.196487,  max = 1.045272  [mm],  sse = 15.331636  [mm^2]

       normalized calibration error:  2.029213

