
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1051.773670  [mm]

       kappa1 = -2.976894e-06  [1/mm^2]

       Tx = -120.206265,  Ty = -53.192057,  Tz = 919.851183  [mm]

       Rx = -94.290859,  Ry = 0.525076,  Rz = -166.597805  [deg]

       R
       -0.972726  -0.008452   0.231802
       -0.231775   0.074900  -0.969881
       -0.009164  -0.997155  -0.074816

       sx = 1.006188
       Cx = 317.186056,  Cy = 249.253195  [pixels]

       Tz / f = 0.874571

       distorted image plane error:
         mean = 0.841063,  stddev = 0.400050,  max = 1.829964  [pix],  sse = 81.378079  [pix^2]

       undistorted image plane error:
         mean = 0.817033,  stddev = 0.385548,  max = 1.764084  [pix],  sse = 76.573256  [pix^2]

       object space error:
         mean = 0.348988,  stddev = 0.164232,  max = 0.740987  [mm],  sse = 13.956884  [mm^2]

       normalized calibration error:  1.999651

