
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1069.611680  [mm]

       kappa1 = -3.583345e-06  [1/mm^2]

       Tx = -119.485050,  Ty = -49.245512,  Tz = 937.519518  [mm]

       Rx = -94.055339,  Ry = 0.505472,  Rz = -167.543524  [deg]

       R
       -0.976422  -0.006661   0.215767
       -0.215690   0.070953  -0.973881
       -0.008822  -0.997457  -0.070717

       sx = 1.004078
       Cx = 313.559306,  Cy = 243.974281  [pixels]

       Tz / f = 0.876505

       distorted image plane error:
         mean = 0.913943,  stddev = 0.479155,  max = 2.299705  [pix],  sse = 99.869189  [pix^2]

       undistorted image plane error:
         mean = 0.880989,  stddev = 0.456720,  max = 2.138133  [pix],  sse = 92.356483  [pix^2]

       object space error:
         mean = 0.377913,  stddev = 0.196509,  max = 0.917797  [mm],  sse = 17.016206  [mm^2]

       normalized calibration error:  2.157071

