
Non-coplanar calibration (full optimization) 

camera type: 9" OEC 9800\nSuper-C

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

       f = 1035.646783  [mm]

       kappa1 = -3.342247e-06  [1/mm^2]

       Tx = -119.556994,  Ty = -53.721822,  Tz = 905.149941  [mm]

       Rx = -94.393462,  Ry = 0.625185,  Rz = -166.500459  [deg]

       R
       -0.972314  -0.007304   0.233564
       -0.233424   0.077028  -0.969319
       -0.010911  -0.997002  -0.076601

       sx = 1.006348
       Cx = 315.625602,  Cy = 250.053017  [pixels]

       Tz / f = 0.873995

       distorted image plane error:
         mean = 0.866357,  stddev = 0.395440,  max = 1.801973  [pix],  sse = 85.096743  [pix^2]

       undistorted image plane error:
         mean = 0.833531,  stddev = 0.381311,  max = 1.706740  [pix],  sse = 78.830819  [pix^2]

       object space error:
         mean = 0.356350,  stddev = 0.163952,  max = 0.731160  [mm],  sse = 14.436470  [mm^2]

       normalized calibration error:  2.039545

