Calibration Parameter

Lens type count: 3
Camera name: R26-M-D-CXP-C024-GS-B
Camera serial: 1885
Invert x axis: No
PixelSize µm: 4.5
Lens pitch px: 28.2855323668442
Rotation count: 1
X: 0.406364291906357 0.407262891530991 0.40817329287529 
Sensor size mm: 23.04 x 23.04
Center offset px: -16.781982421875 x -6.8330078125
MLA auto calibrated: Yes

Started Image Capturing of Image 1: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 2684 calibration target points.
Combining points into calibration target model...
Calculating depth of model points...
Found 1 potential calibration target model(s)
Analyzing calibration target model(s)...
Filtering target model(s)...
Accepted 1 calibration target model(s)
Result for model candidate 1:
 - Accepted
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 16.8481
 - > Std. Dev.: 7.03064
 - > Min: 1.77418
 - > Max: 33.1424
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 16.8481
 - > Std. Dev.: 7.03064
 - > Min: 1.77418
 - > Max: 33.1424
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.
The calibration model has been deleted from calibration set:
 - Model rejected by user.
The accepted image has been removed manually

Started Image Capturing of Image 2: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 3393 calibration target points.
Combining points into calibration target model...
Calculating depth of model points...
Found 1 potential calibration target model(s)
Analyzing calibration target model(s)...
Filtering target model(s)...
Accepted 1 calibration target model(s)
Result for model candidate 1:
 - Accepted
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 17.2953
 - > Std. Dev.: 6.2759
 - > Min: 1.94048
 - > Max: 31.186
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 17.2953
 - > Std. Dev.: 6.2759
 - > Min: 1.94048
 - > Max: 31.186
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.

Started Image Capturing of Image 3: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 3416 calibration target points.
Combining points into calibration target model...
Calculating depth of model points...
Found 1 potential calibration target model(s)
Analyzing calibration target model(s)...
Filtering target model(s)...
Accepted 1 calibration target model(s)
Result for model candidate 1:
 - Accepted
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 17.5885
 - > Std. Dev.: 6.47019
 - > Min: 0.886253
 - > Max: 34.0487
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 17.5885
 - > Std. Dev.: 6.47019
 - > Min: 0.886253
 - > Max: 34.0487
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.

Started Image Capturing of Image 4: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 3457 calibration target points.
Combining points into calibration target model...
Calculating depth of model points...
Found 1 potential calibration target model(s)
Analyzing calibration target model(s)...
Filtering target model(s)...
Accepted 1 calibration target model(s)
Result for model candidate 1:
 - Accepted
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 24.0395
 - > Std. Dev.: 10.9955
 - > Min: 1.49593
 - > Max: 54.5272
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 24.0395
 - > Std. Dev.: 10.9955
 - > Min: 1.49593
 - > Max: 54.5272
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.

Started Image Capturing of Image 5: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 3680 calibration target points.
Combining points into calibration target model...
Calculating depth of model points...
Found 1 potential calibration target model(s)
Analyzing calibration target model(s)...
Filtering target model(s)...
Accepted 1 calibration target model(s)
Result for model candidate 1:
 - Accepted
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.

Entered calibration page.
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Focus plane radial distortion
 - Focus plane depth distortion
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Evaluated error function
Calibration initialization finished successfully.

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Focus plane radial distortion
 - Focus plane depth distortion
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Iteration: 1
 - Parameters:
 - 0.106095, 0.115592, 63.4323, 0.23873, -0.251009, -0.0168483, 0.00589044, 0, 
 - Focal length: 63.4323
 - Total focus distance: 731.474
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.23873,-0.251009
 - Distort radial depth: -0.0168483,0.00589044
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 39.322
 - > Std. Dev.: 17.2981
 - > Min: 3.16896
 - > Max: 86.0113
 - 
Iteration: 2
 - Parameters:
 - 0.103385, 0.120139, 69.4127, 0.183014, -0.19668, -0.0160607, 0.00448588, 0, 
 - Focal length: 69.4127
 - Total focus distance: 817.402
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.183014,-0.19668
 - Distort radial depth: -0.0160607,0.00448588
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 41.7151
 - > Std. Dev.: 18.4331
 - > Min: 3.82736
 - > Max: 92.8812
 - 
Iteration: 3
 - Parameters:
 - 0.094674, 0.110569, 69.92, 0.0412732, -0.0526478, -0.0141368, 0.00146194, 0, 
 - Focal length: 69.92
 - Total focus distance: 884.994
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0412732,-0.0526478
 - Distort radial depth: -0.0141368,0.00146194
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 48.0156
 - > Std. Dev.: 21.3116
 - > Min: 5.16387
 - > Max: 111.079
 - 
Iteration: 4
 - Parameters:
 - 0.0919085, 0.104444, 69.9983, -0.00883138, -0.00138479, -0.0126329, -4.69835e-005, 0, 
 - Focal length: 69.9983
 - Total focus distance: 908.038
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.00883138,-0.00138479
 - Distort radial depth: -0.0126329,-4.69835e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 50.3826
 - > Std. Dev.: 22.4932
 - > Min: 5.97199
 - > Max: 118.106
 - 
Iteration: 5
 - Parameters:
 - 0.0986505, 0.144467, 70, 0.000239562, -3.58852e-006, -0.000672145, -4.71773e-006, 0, 
 - Focal length: 70
 - Total focus distance: 856.481
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000239562,-3.58852e-006
 - Distort radial depth: -0.000672145,-4.71773e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 47.2641
 - > Std. Dev.: 21.807
 - > Min: 1.63272
 - > Max: 110.173
 - 
Iteration: 6
 - Parameters:
 - 0.236659, 0.304616, 70, 6.78602e-005, 3.10838e-007, 1.88325e-006, 7.27725e-009, 0, 
 - Focal length: 70
 - Total focus distance: 452.35
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,6.78602e-005,3.10838e-007
 - Distort radial depth: 1.88325e-006,7.27725e-009
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 16.5373
 - > Std. Dev.: 7.76994
 - > Min: 2.16204
 - > Max: 40.1816
 - 
Iteration: 7
 - Parameters:
 - 0.153157, 0.230797, 70, 0.000278963, 6.39207e-007, -0.000329902, -2.29263e-006, 0, 
 - Focal length: 70
 - Total focus distance: 607.769
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000278963,6.39207e-007
 - Distort radial depth: -0.000329902,-2.29263e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 8.98749
 - > Std. Dev.: 3.82073
 - > Min: 1.01373
 - > Max: 20.127
 - 
Iteration: 8
 - Parameters:
 - 0.17204, 0.19531, 70, 0.000126833, -3.20943e-006, -0.00137244, -9.5394e-006, 0, 
 - Focal length: 70
 - Total focus distance: 558.924
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000126833,-3.20943e-006
 - Distort radial depth: -0.00137244,-9.5394e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 1.93028
 - > Std. Dev.: 0.861894
 - > Min: 0.0703377
 - > Max: 6.12775
 - 
Iteration: 9
 - Parameters:
 - 0.173403, 0.196453, 70, -0.000190202, -1.49417e-005, -0.0036766, -2.50418e-005, 0, 
 - Focal length: 70
 - Total focus distance: 555.822
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.000190202,-1.49417e-005
 - Distort radial depth: -0.0036766,-2.50418e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 1.07418
 - > Std. Dev.: 0.477882
 - > Min: 0.0683284
 - > Max: 2.93352
 - 
Iteration: 10
 - Parameters:
 - 0.172093, 0.244817, 69.9996, 0.0101264, -0.000945731, -0.00666805, 0.000306221, 0, 
 - Focal length: 69.9996
 - Total focus distance: 558.799
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0101264,-0.000945731
 - Distort radial depth: -0.00666805,0.000306221
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.6904
 - > Std. Dev.: 0.382386
 - > Min: 0.0232745
 - > Max: 3.39381
 - 
Iteration: 11
 - Parameters:
 - 0.172161, 0.245871, 69.9976, 0.0144633, -0.00589446, -0.0072569, 0.00112894, 0, 
 - Focal length: 69.9976
 - Total focus distance: 558.627
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0144633,-0.00589446
 - Distort radial depth: -0.0072569,0.00112894
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.678961
 - > Std. Dev.: 0.377478
 - > Min: 0.0149488
 - > Max: 3.06711
 - 
Iteration: 12
 - Parameters:
 - 0.172657, 0.246486, 69.9893, 0.0310066, -0.0240617, -0.00767104, 0.00174594, 0, 
 - Focal length: 69.9893
 - Total focus distance: 557.43
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0310066,-0.0240617
 - Distort radial depth: -0.00767104,0.00174594
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.6697
 - > Std. Dev.: 0.373138
 - > Min: 0.025078
 - > Max: 2.73808
 - 
Iteration: 13
 - Parameters:
 - 0.173877, 0.245893, 69.9453, 0.0660595, -0.0623334, -0.00766065, 0.00184776, 0, 
 - Focal length: 69.9453
 - Total focus distance: 554.32
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0660595,-0.0623334
 - Distort radial depth: -0.00766065,0.00184776
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.663937
 - > Std. Dev.: 0.366295
 - > Min: 0.00483598
 - > Max: 2.4726
 - 
Iteration: 14
 - Parameters:
 - 0.174141, 0.243225, 69.1717, 0.0759959, -0.0730657, -0.00759546, 0.00184834, 0, 
 - Focal length: 69.1717
 - Total focus distance: 547.606
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0759959,-0.0730657
 - Distort radial depth: -0.00759546,0.00184834
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.663658
 - > Std. Dev.: 0.364629
 - > Min: 0.0104015
 - > Max: 2.39832
 - 
Iteration: 15
 - Parameters:
 - 0.173866, 0.238238, 67.6088, 0.0733588, -0.0699665, -0.00750127, 0.00183248, 0, 
 - Focal length: 67.6088
 - Total focus distance: 535.828
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0733588,-0.0699665
 - Distort radial depth: -0.00750127,0.00183248
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.663113
 - > Std. Dev.: 0.364719
 - > Min: 0.00699425
 - > Max: 2.38313
 - 
Iteration: 16
 - Parameters:
 - 0.173864, 0.238027, 67.5732, 0.0734374, -0.070065, -0.00749693, 0.00183123, 0, 
 - Focal length: 67.5732
 - Total focus distance: 535.55
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0734374,-0.070065
 - Distort radial depth: -0.00749693,0.00183123
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.663136
 - > Std. Dev.: 0.364674
 - > Min: 0.00669745
 - > Max: 2.38147
 - 
Iteration: 17
 - Parameters:
 - 0.173864, 0.238016, 67.5708, 0.0734399, -0.0700681, -0.00749675, 0.00183121, 0, 
 - Focal length: 67.5708
 - Total focus distance: 535.531
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0734399,-0.0700681
 - Distort radial depth: -0.00749675,0.00183121
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.663139
 - > Std. Dev.: 0.36467
 - > Min: 0.00670387
 - > Max: 2.38141
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.173864, 0.238016, 67.5708, 0.0734399, -0.0700681, -0.00749675, 0.00183121, 0, 
 - Focal length: 67.5708
 - Total focus distance: 535.531
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0734399,-0.0700681
 - Distort radial depth: -0.00749675,0.00183121
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.663139
 - > Std. Dev.: 0.36467
 - > Min: 0.00670387
 - > Max: 2.38141
 - 
The Calibration converged successfully.
Calibration converged.
Camera not calibrated with this parameter set
No collection found for this calibration

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.1453
 - > Std. Dev.: 12.0111
 - > Min: 1.70626
 - > Max: 60.8778
 - 
Iteration: 1
 - Parameters:
 - 0.10316, 0.135276, 63.2129, 0.197836, -0.208223, -0.0172925, 0.00517995, 0, 0, 0, -0.00586135, 0.00416686, 
 - Focal length: 63.2129
 - Total focus distance: 745.713
 - Principal point: 0,0
 - Optical axis dir: -0.00586135,0.00416686,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.197836,-0.208223
 - Distort radial depth: -0.0172925,0.00517995
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 40.5434
 - > Std. Dev.: 17.6154
 - > Min: 3.98285
 - > Max: 89.0298
 - 
Iteration: 2
 - Parameters:
 - 0.102532, 0.14412, 69.3282, 0.175608, -0.187808, -0.0169308, 0.00435245, 0, 0, 0, -0.00629936, 0.00444088, 
 - Focal length: 69.3282
 - Total focus distance: 821.929
 - Principal point: 0,0
 - Optical axis dir: -0.00629936,0.00444088,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.175608,-0.187808
 - Distort radial depth: -0.0169308,0.00435245
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 41.6973
 - > Std. Dev.: 18.1744
 - > Min: 4.53658
 - > Max: 92.7609
 - 
Iteration: 3
 - Parameters:
 - 0.0942301, 0.136919, 69.9286, 0.0406522, -0.050623, -0.0151643, 0.0014657, 0, 0, 0, -0.00674959, 0.00480241, 
 - Focal length: 69.9286
 - Total focus distance: 888.551
 - Principal point: 0,0
 - Optical axis dir: -0.00674959,0.00480241,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0406522,-0.050623
 - Distort radial depth: -0.0151643,0.0014657
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 47.6745
 - > Std. Dev.: 20.839
 - > Min: 6.0979
 - > Max: 110.03
 - 
Iteration: 4
 - Parameters:
 - 0.0926329, 0.109486, 69.9997, -0.00917108, -0.000336309, -0.011266, -7.36772e-005, 0, 0, 0, -0.00356689, 0.00257828, 
 - Focal length: 69.9997
 - Total focus distance: 902.151
 - Principal point: 0,0
 - Optical axis dir: -0.00356689,0.00257828,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.00917108,-0.000336309
 - Distort radial depth: -0.011266,-7.36772e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 49.7747
 - > Std. Dev.: 22.335
 - > Min: 7.47639
 - > Max: 115.916
 - 
Iteration: 5
 - Parameters:
 - 0.0986636, 0.148169, 70, 0.000261842, -3.12939e-006, -0.00063722, -4.47091e-006, 0, 0, 0, -6.63209e-005, 5.01118e-005, 
 - Focal length: 70
 - Total focus distance: 856.388
 - Principal point: 0,0
 - Optical axis dir: -6.63209e-005,5.01118e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000261842,-3.12939e-006
 - Distort radial depth: -0.00063722,-4.47091e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 47.2187
 - > Std. Dev.: 21.7756
 - > Min: 1.6162
 - > Max: 110.087
 - 
Iteration: 6
 - Parameters:
 - 0.236775, 0.304618, 70, 6.77182e-005, 3.10188e-007, 1.87989e-006, 7.26594e-009, 0, 0, 0, 1.09821e-007, 6.19393e-007, 
 - Focal length: 70
 - Total focus distance: 452.214
 - Principal point: 0,0
 - Optical axis dir: 1.09821e-007,6.19393e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,6.77182e-005,3.10188e-007
 - Distort radial depth: 1.87989e-006,7.26594e-009
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 16.5591
 - > Std. Dev.: 7.78077
 - > Min: 2.16072
 - > Max: 40.2341
 - 
Iteration: 7
 - Parameters:
 - 0.153079, 0.231156, 70, 0.000278897, 6.48291e-007, -0.00032722, -2.2736e-006, 0, 1.20784e-019, 8.33995e-018, -5.48489e-006, 1.86072e-005, 
 - Focal length: 70
 - Total focus distance: 607.994
 - Principal point: 0,0
 - Optical axis dir: -5.48489e-006,1.86072e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.000278897,6.48291e-007
 - Distort radial depth: -0.00032722,-2.2736e-006
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 9.02136
 - > Std. Dev.: 3.83709
 - > Min: 1.02043
 - > Max: 20.209
 - 
Iteration: 8
 - Parameters:
 - 0.172046, 0.195249, 70, 0.000131867, -3.10071e-006, -0.00135646, -9.42705e-006, 0, 1.20784e-019, 8.33995e-018, 3.92417e-005, 0.000146557, 
 - Focal length: 70
 - Total focus distance: 558.911
 - Principal point: 0,0
 - Optical axis dir: 3.92417e-005,0.000146557,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.000131867,-3.10071e-006
 - Distort radial depth: -0.00135646,-9.42705e-006
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 1.93374
 - > Std. Dev.: 0.863449
 - > Min: 0.0678796
 - > Max: 6.14537
 - 
Iteration: 9
 - Parameters:
 - 0.173519, 0.194561, 70, -0.000187415, -1.44089e-005, -0.00361401, -2.46301e-005, 0, 1.20784e-019, 8.33995e-018, 9.65208e-005, 0.00059577, 
 - Focal length: 70
 - Total focus distance: 555.56
 - Principal point: 0,0
 - Optical axis dir: 9.65208e-005,0.00059577,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,-0.000187415,-1.44089e-005
 - Distort radial depth: -0.00361401,-2.46301e-005
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 1.05996
 - > Std. Dev.: 0.47435
 - > Min: 0.0514075
 - > Max: 2.95418
 - 
Iteration: 10
 - Parameters:
 - 0.172647, 0.228537, 70, 0.00527247, -3.0435e-006, -0.00605419, -1.77659e-005, 0, 1.20784e-019, 8.33995e-018, 5.81445e-005, 0.00452923, 
 - Focal length: 70
 - Total focus distance: 557.536
 - Principal point: 0,0
 - Optical axis dir: 5.81445e-005,0.00452923,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.00527247,-3.0435e-006
 - Distort radial depth: -0.00605419,-1.77659e-005
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.492517
 - > Std. Dev.: 0.261185
 - > Min: 0.0130111
 - > Max: 3.16574
 - 
Iteration: 11
 - Parameters:
 - 0.173586, 0.219457, 70.0001, 0.00996275, -9.97424e-005, -0.0065395, 0.000761234, 0, 1.20784e-019, 8.33995e-018, 0.000343317, 0.00977112, 
 - Focal length: 70.0001
 - Total focus distance: 555.41
 - Principal point: 0,0
 - Optical axis dir: 0.000343317,0.00977112,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.00996275,-9.97424e-005
 - Distort radial depth: -0.0065395,0.000761234
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.321662
 - > Std. Dev.: 0.226837
 - > Min: 0.00769894
 - > Max: 3.02453
 - 
Iteration: 12
 - Parameters:
 - 0.173572, 0.221187, 70.1424, 0.0124435, -0.0027409, -0.00745604, 0.00199473, 0, 1.20784e-019, 8.33995e-018, 0.00065631, 0.0101973, 
 - Focal length: 70.1424
 - Total focus distance: 556.57
 - Principal point: 0,0
 - Optical axis dir: 0.00065631,0.0101973,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.0124435,-0.0027409
 - Distort radial depth: -0.00745604,0.00199473
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.308682
 - > Std. Dev.: 0.214754
 - > Min: 0.00373863
 - > Max: 2.53802
 - 
Iteration: 13
 - Parameters:
 - 0.173634, 0.22224, 70.5233, 0.0130282, -0.0034276, -0.00748119, 0.0020033, 0, 1.20784e-019, 8.33995e-018, 0.000646843, 0.010222, 
 - Focal length: 70.5233
 - Total focus distance: 559.452
 - Principal point: 0,0
 - Optical axis dir: 0.000646843,0.010222,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.0130282,-0.0034276
 - Distort radial depth: -0.00748119,0.0020033
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.307796
 - > Std. Dev.: 0.21552
 - > Min: 0.00282427
 - > Max: 2.54458
 - 
Iteration: 14
 - Parameters:
 - 0.173747, 0.224357, 71.2851, 0.0139352, -0.00451309, -0.00752517, 0.00201283, 0, 1.20784e-019, 8.33995e-018, 0.000608031, 0.0102581, 
 - Focal length: 71.2851
 - Total focus distance: 565.236
 - Principal point: 0,0
 - Optical axis dir: 0.000608031,0.0102581,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.0139352,-0.00451309
 - Distort radial depth: -0.00752517,0.00201283
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.306203
 - > Std. Dev.: 0.217124
 - > Min: 0.00446419
 - > Max: 2.55872
 - 
Iteration: 15
 - Parameters:
 - 0.173853, 0.226356, 72.0118, 0.0147733, -0.00551716, -0.00756667, 0.00202168, 0, 1.20784e-019, 8.33995e-018, 0.000570514, 0.0102915, 
 - Focal length: 72.0118
 - Total focus distance: 570.754
 - Principal point: 0,0
 - Optical axis dir: 0.000570514,0.0102915,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.0147733,-0.00551716
 - Distort radial depth: -0.00756667,0.00202168
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.304917
 - > Std. Dev.: 0.218715
 - > Min: 0.00891229
 - > Max: 2.57215
 - 
Iteration: 16
 - Parameters:
 - 0.173855, 0.226436, 72.0374, 0.0147596, -0.00550206, -0.00756852, 0.00202205, 0, 1.20784e-019, 8.33995e-018, 0.000569167, 0.0102919, 
 - Focal length: 72.0374
 - Total focus distance: 570.953
 - Principal point: 0,0
 - Optical axis dir: 0.000569167,0.0102919,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.0147596,-0.00550206
 - Distort radial depth: -0.00756852,0.00202205
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.304867
 - > Std. Dev.: 0.218784
 - > Min: 0.00901862
 - > Max: 2.57277
 - 
Iteration: 17
 - Parameters:
 - 0.173855, 0.226439, 72.0385, 0.0147591, -0.00550153, -0.0075686, 0.00202207, 0, 1.20784e-019, 8.33995e-018, 0.000569088, 0.0102919, 
 - Focal length: 72.0385
 - Total focus distance: 570.961
 - Principal point: 0,0
 - Optical axis dir: 0.000569088,0.0102919,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.0147591,-0.00550153
 - Distort radial depth: -0.0075686,0.00202207
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.304865
 - > Std. Dev.: 0.218787
 - > Min: 0.00902512
 - > Max: 2.5728
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.173855, 0.226439, 72.0385, 0.0147591, -0.00550153, -0.0075686, 0.00202207, 8.33995e-018, 1.20784e-019, 8.33995e-018, 0.000569088, 0.0102919, 
 - Focal length: 72.0385
 - Total focus distance: 570.961
 - Principal point: 0,0
 - Optical axis dir: 0.000569088,0.0102919,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.20784e-019
 - Distort radial: ,0.0147591,-0.00550153
 - Distort radial depth: -0.0075686,0.00202207
 - Distort axial depth: 8.33995e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.304865
 - > Std. Dev.: 0.218787
 - > Min: 0.00902512
 - > Max: 2.5728
 - 
The Calibration converged successfully.
Calibration converged.

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 20.6834
 - > Std. Dev.: 8.545
 - > Min: 0.599919
 - > Max: 50.9904
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 20.6834
 - > Std. Dev.: 8.545
 - > Min: 0.599919
 - > Max: 50.9904
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 20.6834
 - > Std. Dev.: 8.545
 - > Min: 0.599919
 - > Max: 50.9904
 - 
Iteration: 1
 - Parameters:
 - 0.0977913, 0.110523, 63.0163, 0.0319728, -0.0135608, -0.0176815, 0.00564473, 0, 0, 0, -0.000278817, 0.00345429, 
 - Focal length: 63.0163
 - Total focus distance: 776.591
 - Principal point: 0,0
 - Optical axis dir: -0.000278817,0.00345429,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0319728,-0.0135608
 - Distort radial depth: -0.0176815,0.00564473
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 36.4674
 - > Std. Dev.: 14.5455
 - > Min: 2.81288
 - > Max: 90.2705
 - 
Iteration: 2
 - Parameters:
 - 0.0995153, 0.119667, 68.3807, 0.0429957, -0.0231009, -0.0178005, 0.00563803, 0, 0, 0, -0.000242006, 0.00353506, 
 - Focal length: 68.3807
 - Total focus distance: 830.703
 - Principal point: 0,0
 - Optical axis dir: -0.000242006,0.00353506,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0429957,-0.0231009
 - Distort radial depth: -0.0178005,0.00563803
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 36.027
 - > Std. Dev.: 14.4396
 - > Min: 2.83919
 - > Max: 89.7572
 - 
Iteration: 3
 - Parameters:
 - 0.099369, 0.120066, 69.9293, 0.0296368, -0.00643856, -0.0166799, 0.00402529, 0, 0, 0, -0.000238024, 0.00358096, 
 - Focal length: 69.9293
 - Total focus distance: 850.541
 - Principal point: 0,0
 - Optical axis dir: -0.000238024,0.00358096,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0296368,-0.00643856
 - Distort radial depth: -0.0166799,0.00402529
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 36.312
 - > Std. Dev.: 14.6087
 - > Min: 3.22256
 - > Max: 91.6619
 - 
Iteration: 4
 - Parameters:
 - 0.100847, 0.0657754, 69.9999, 0.00816566, 6.29487e-005, -0.00996225, -5.92207e-005, 0, 0, 0, -0.00093466, 0.00136288, 
 - Focal length: 69.9999
 - Total focus distance: 841.182
 - Principal point: 0,0
 - Optical axis dir: -0.00093466,0.00136288,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.00816566,6.29487e-005
 - Distort radial depth: -0.00996225,-5.92207e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 36.8807
 - > Std. Dev.: 15.1615
 - > Min: 3.76171
 - > Max: 91.9999
 - 
Iteration: 5
 - Parameters:
 - 0.102646, 0.14083, 70, 0.000618116, 2.52045e-006, -0.000576428, -4.01212e-006, 0, 0, 0, 2.26876e-005, 3.58183e-005, 
 - Focal length: 70
 - Total focus distance: 829.141
 - Principal point: 0,0
 - Optical axis dir: 2.26876e-005,3.58183e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000618116,2.52045e-006
 - Distort radial depth: -0.000576428,-4.01212e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 36.1956
 - > Std. Dev.: 14.5547
 - > Min: 2.8665
 - > Max: 87.7078
 - 
Iteration: 6
 - Parameters:
 - 0.230157, 0.303092, 70, 8.78322e-005, 4.71671e-007, 2.08536e-006, 9.92776e-009, 0, 0, 0, -2.18341e-007, 1.57226e-007, 
 - Focal length: 70
 - Total focus distance: 460.251
 - Principal point: 0,0
 - Optical axis dir: -2.18341e-007,1.57226e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,8.78322e-005,4.71671e-007
 - Distort radial depth: 2.08536e-006,9.92776e-009
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 12.5828
 - > Std. Dev.: 5.10424
 - > Min: 1.61083
 - > Max: 31.147
 - 
Iteration: 7
 - Parameters:
 - 0.159084, 0.206495, 70, 0.000376574, 1.67035e-006, -0.000405573, -2.82143e-006, 0, 9.99338e-020, 1.12265e-017, 9.59591e-007, 1.57551e-005, 
 - Focal length: 70
 - Total focus distance: 591.156
 - Principal point: 0,0
 - Optical axis dir: 9.59591e-007,1.57551e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.000376574,1.67035e-006
 - Distort radial depth: -0.000405573,-2.82143e-006
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 5.69776
 - > Std. Dev.: 2.1208
 - > Min: 0.0872381
 - > Max: 13.9779
 - 
Iteration: 8
 - Parameters:
 - 0.174835, 0.160681, 70, 0.00140607, 8.09899e-006, -0.00291789, -1.84384e-005, 0, 9.99338e-020, 1.12265e-017, -0.000281899, 0.000301363, 
 - Focal length: 70
 - Total focus distance: 552.615
 - Principal point: 0,0
 - Optical axis dir: -0.000281899,0.000301363,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00140607,8.09899e-006
 - Distort radial depth: -0.00291789,-1.84384e-005
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.84092
 - > Std. Dev.: 0.536061
 - > Min: 0.075809
 - > Max: 3.51137
 - 
Iteration: 9
 - Parameters:
 - 0.174748, 0.193304, 69.9999, 0.00754056, 5.20859e-005, -0.00551001, 3.83926e-005, 0, 9.99338e-020, 1.12265e-017, -0.00178241, 0.00454698, 
 - Focal length: 69.9999
 - Total focus distance: 552.808
 - Principal point: 0,0
 - Optical axis dir: -0.00178241,0.00454698,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00754056,5.20859e-005
 - Distort radial depth: -0.00551001,3.83926e-005
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.325647
 - > Std. Dev.: 0.229841
 - > Min: 0.0166398
 - > Max: 2.97194
 - 
Iteration: 10
 - Parameters:
 - 0.174158, 0.205479, 69.9987, 0.00823734, -0.000342216, -0.00655381, 0.00106694, 0, 9.99338e-020, 1.12265e-017, -0.000907671, 0.00815076, 
 - Focal length: 69.9987
 - Total focus distance: 554.115
 - Principal point: 0,0
 - Optical axis dir: -0.000907671,0.00815076,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00823734,-0.000342216
 - Distort radial depth: -0.00655381,0.00106694
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.251625
 - > Std. Dev.: 0.223287
 - > Min: 0.00960232
 - > Max: 2.80621
 - 
Iteration: 11
 - Parameters:
 - 0.174137, 0.207422, 69.8083, 0.0135074, -0.00606007, -0.00726982, 0.00202525, 0, 9.99338e-020, 1.12265e-017, -0.000614978, 0.00847177, 
 - Focal length: 69.8083
 - Total focus distance: 552.654
 - Principal point: 0,0
 - Optical axis dir: -0.000614978,0.00847177,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.0135074,-0.00606007
 - Distort radial depth: -0.00726982,0.00202525
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.245577
 - > Std. Dev.: 0.215591
 - > Min: 0.00853899
 - > Max: 2.42596
 - 
Iteration: 12
 - Parameters:
 - 0.174108, 0.206023, 69.3665, 0.0137668, -0.00638708, -0.00724198, 0.00202184, 0, 9.99338e-020, 1.12265e-017, -0.000602492, 0.00845393, 
 - Focal length: 69.3665
 - Total focus distance: 549.221
 - Principal point: 0,0
 - Optical axis dir: -0.000602492,0.00845393,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.0137668,-0.00638708
 - Distort radial depth: -0.00724198,0.00202184
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.245239
 - > Std. Dev.: 0.214719
 - > Min: 0.00363327
 - > Max: 2.41529
 - 
Iteration: 13
 - Parameters:
 - 0.174024, 0.203343, 68.5592, 0.0131577, -0.00576652, -0.00718291, 0.00200725, 0, 9.99338e-020, 1.12265e-017, -0.000585287, 0.00839762, 
 - Focal length: 68.5592
 - Total focus distance: 543.013
 - Principal point: 0,0
 - Optical axis dir: -0.000585287,0.00839762,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.0131577,-0.00576652
 - Distort radial depth: -0.00718291,0.00200725
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.24479
 - > Std. Dev.: 0.213069
 - > Min: 0.00618913
 - > Max: 2.39734
 - 
Iteration: 14
 - Parameters:
 - 0.173857, 0.197919, 66.9447, 0.0118971, -0.00448056, -0.00706308, 0.0019774, 0, 9.99338e-020, 1.12265e-017, -0.000552012, 0.00828316, 
 - Focal length: 66.9447
 - Total focus distance: 530.585
 - Principal point: 0,0
 - Optical axis dir: -0.000552012,0.00828316,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.0118971,-0.00448056
 - Distort radial depth: -0.00706308,0.0019774
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.244288
 - > Std. Dev.: 0.209814
 - > Min: 0.0119489
 - > Max: 2.36105
 - 
Iteration: 15
 - Parameters:
 - 0.173526, 0.186836, 63.7157, 0.00942545, -0.00196552, -0.0068169, 0.00191542, 0, 9.99338e-020, 1.12265e-017, -0.00048376, 0.00805458, 
 - Focal length: 63.7157
 - Total focus distance: 505.67
 - Principal point: 0,0
 - Optical axis dir: -0.00048376,0.00805458,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00942545,-0.00196552
 - Distort radial depth: -0.0068169,0.00191542
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.244622
 - > Std. Dev.: 0.203797
 - > Min: 0.0168152
 - > Max: 2.28686
 - 
Iteration: 16
 - Parameters:
 - 0.173146, 0.173032, 59.8757, 0.00668656, 0.00082411, -0.00650678, 0.00183601, 0, 9.99338e-020, 1.12265e-017, -0.00037926, 0.00780285, 
 - Focal length: 59.8757
 - Total focus distance: 475.93
 - Principal point: 0,0
 - Optical axis dir: -0.00037926,0.00780285,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00668656,0.00082411
 - Distort radial depth: -0.00650678,0.00183601
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.24679
 - > Std. Dev.: 0.19807
 - > Min: 0.00935333
 - > Max: 2.19506
 - 
Iteration: 17
 - Parameters:
 - 0.173086, 0.169844, 59.0928, 0.00644012, 0.00110754, -0.00643233, 0.00181662, 0, 9.99338e-020, 1.12265e-017, -0.000305949, 0.00781116, 
 - Focal length: 59.0928
 - Total focus distance: 469.82
 - Principal point: 0,0
 - Optical axis dir: -0.000305949,0.00781116,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00644012,0.00110754
 - Distort radial depth: -0.00643233,0.00181662
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.247237
 - > Std. Dev.: 0.197261
 - > Min: 0.0142447
 - > Max: 2.17604
 - 
Iteration: 18
 - Parameters:
 - 0.173067, 0.168846, 58.8353, 0.00634932, 0.00120178, -0.00640924, 0.00181058, 0, 9.99338e-020, 1.12265e-017, -0.000288588, 0.00781051, 
 - Focal length: 58.8353
 - Total focus distance: 467.81
 - Principal point: 0,0
 - Optical axis dir: -0.000288588,0.00781051,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00634932,0.00120178
 - Distort radial depth: -0.00640924,0.00181058
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.24742
 - > Std. Dev.: 0.197012
 - > Min: 0.0150893
 - > Max: 2.17014
 - 
Iteration: 19
 - Parameters:
 - 0.173061, 0.16855, 58.7586, 0.00632256, 0.00123034, -0.0064024, 0.0018088, 0, 9.99338e-020, 1.12265e-017, -0.000282784, 0.00781086, 
 - Focal length: 58.7586
 - Total focus distance: 467.211
 - Principal point: 0,0
 - Optical axis dir: -0.000282784,0.00781086,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00632256,0.00123034
 - Distort radial depth: -0.0064024,0.0018088
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.247472
 - > Std. Dev.: 0.196946
 - > Min: 0.0148975
 - > Max: 2.1684
 - 
Iteration: 20
 - Parameters:
 - 0.173059, 0.16846, 58.7351, 0.00631429, 0.0012391, -0.00640031, 0.00180826, 0, 9.99338e-020, 1.12265e-017, -0.000281045, 0.00781095, 
 - Focal length: 58.7351
 - Total focus distance: 467.028
 - Principal point: 0,0
 - Optical axis dir: -0.000281045,0.00781095,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00631429,0.0012391
 - Distort radial depth: -0.00640031,0.00180826
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.247488
 - > Std. Dev.: 0.196925
 - > Min: 0.0148387
 - > Max: 2.16787
 - 
Iteration: 21
 - Parameters:
 - 0.173059, 0.168432, 58.728, 0.00631178, 0.00124177, -0.00639968, 0.0018081, 0, 9.99338e-020, 1.12265e-017, -0.000280513, 0.00781099, 
 - Focal length: 58.728
 - Total focus distance: 466.972
 - Principal point: 0,0
 - Optical axis dir: -0.000280513,0.00781099,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00631178,0.00124177
 - Distort radial depth: -0.00639968,0.0018081
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.247493
 - > Std. Dev.: 0.196919
 - > Min: 0.0148208
 - > Max: 2.16771
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.173059, 0.168432, 58.728, 0.00631178, 0.00124177, -0.00639968, 0.0018081, 1.12265e-017, 9.99338e-020, 1.12265e-017, -0.000280513, 0.00781099, 
 - Focal length: 58.728
 - Total focus distance: 466.972
 - Principal point: 0,0
 - Optical axis dir: -0.000280513,0.00781099,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.99338e-020
 - Distort radial: ,0.00631178,0.00124177
 - Distort radial depth: -0.00639968,0.0018081
 - Distort axial depth: 1.12265e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.247493
 - > Std. Dev.: 0.196919
 - > Min: 0.0148208
 - > Max: 2.16771
 - 
The Calibration converged successfully.
Calibration converged.

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 23.4175
 - > Std. Dev.: 9.48993
 - > Min: 1.49593
 - > Max: 54.5272
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 23.4175
 - > Std. Dev.: 9.48993
 - > Min: 1.49593
 - > Max: 54.5272
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 23.4175
 - > Std. Dev.: 9.48993
 - > Min: 1.49593
 - > Max: 54.5272
 - 
Iteration: 1
 - Parameters:
 - 0.103352, 0.138134, 63.459, 0.233936, -0.259507, -0.0171323, 0.00440791, 0, 0, 0, -0.0054033, -0.000393475, 
 - Focal length: 63.459
 - Total focus distance: 747.484
 - Principal point: 0,0
 - Optical axis dir: -0.0054033,-0.000393475,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.233936,-0.259507
 - Distort radial depth: -0.0171323,0.00440791
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 36.8045
 - > Std. Dev.: 13.2639
 - > Min: 2.04226
 - > Max: 77.9703
 - 
Iteration: 2
 - Parameters:
 - 0.0997653, 0.143485, 69.4376, 0.169964, -0.198583, -0.0164205, 0.00294672, 0, 0, 0, -0.00587549, -0.000698006, 
 - Focal length: 69.4376
 - Total focus distance: 841.812
 - Principal point: 0,0
 - Optical axis dir: -0.00587549,-0.000698006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.169964,-0.198583
 - Distort radial depth: -0.0164205,0.00294672
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 39.62
 - > Std. Dev.: 14.3292
 - > Min: 2.86851
 - > Max: 85.6502
 - 
Iteration: 3
 - Parameters:
 - 0.0901249, 0.133818, 69.9229, 0.0226006, -0.0522446, -0.0150704, 0.000608684, 0, 0, 0, -0.00619773, -0.000944234, 
 - Focal length: 69.9229
 - Total focus distance: 921.992
 - Principal point: 0,0
 - Optical axis dir: -0.00619773,-0.000944234,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0226006,-0.0522446
 - Distort radial depth: -0.0150704,0.000608684
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 46.2492
 - > Std. Dev.: 16.7911
 - > Min: 4.71348
 - > Max: 104.273
 - 
Iteration: 4
 - Parameters:
 - 0.0903394, 0.10713, 69.9997, -0.021028, -0.000430847, -0.010708, -7.51082e-005, 0, 0, 0, -0.00258686, 0.000256116, 
 - Focal length: 69.9997
 - Total focus distance: 921.175
 - Principal point: 0,0
 - Optical axis dir: -0.00258686,0.000256116,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.021028,-0.000430847
 - Distort radial depth: -0.010708,-7.51082e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 47.4767
 - > Std. Dev.: 17.9208
 - > Min: 6.68555
 - > Max: 107.487
 - 
Iteration: 5
 - Parameters:
 - 0.098237, 0.178961, 70, 0.000120922, -3.61739e-006, -0.000420885, -2.9719e-006, 0, 0, 0, -3.10226e-005, -1.30873e-005, 
 - Focal length: 70
 - Total focus distance: 859.439
 - Principal point: 0,0
 - Optical axis dir: -3.10226e-005,-1.30873e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000120922,-3.61739e-006
 - Distort radial depth: -0.000420885,-2.9719e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 43.9529
 - > Std. Dev.: 17.1728
 - > Min: 1.72789
 - > Max: 98.5874
 - 
Iteration: 6
 - Parameters:
 - 0.24239, 0.304587, 70, 6.535e-005, 3.16711e-007, 2.10028e-006, 9.77801e-009, 0, 0, 0, -1.09757e-007, 7.32485e-007, 
 - Focal length: 70
 - Total focus distance: 445.758
 - Principal point: 0,0
 - Optical axis dir: -1.09757e-007,7.32485e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,6.535e-005,3.16711e-007
 - Distort radial depth: 2.10028e-006,9.77801e-009
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 16.3949
 - > Std. Dev.: 6.55956
 - > Min: 1.65344
 - > Max: 38.3326
 - 
Iteration: 7
 - Parameters:
 - 0.148631, 0.252034, 70, 0.000237033, 5.45215e-007, -0.000203073, -1.41371e-006, 0, -8.25941e-020, 6.07723e-018, -1.68462e-006, 2.87842e-006, 
 - Focal length: 70
 - Total focus distance: 621.37
 - Principal point: 0,0
 - Optical axis dir: -1.68462e-006,2.87842e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.000237033,5.45215e-007
 - Distort radial depth: -0.000203073,-1.41371e-006
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 10.0394
 - > Std. Dev.: 3.82371
 - > Min: 0.285787
 - > Max: 22.3715
 - 
Iteration: 8
 - Parameters:
 - 0.170447, 0.222946, 70, -8.65589e-005, -4.23369e-006, -0.00113608, -7.93102e-006, 0, -8.25941e-020, 6.07723e-018, 6.84523e-005, 0.000102799, 
 - Focal length: 70
 - Total focus distance: 562.615
 - Principal point: 0,0
 - Optical axis dir: 6.84523e-005,0.000102799,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,-8.65589e-005,-4.23369e-006
 - Distort radial depth: -0.00113608,-7.93102e-006
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 2.00918
 - > Std. Dev.: 0.94527
 - > Min: 0.0668983
 - > Max: 7.08485
 - 
Iteration: 9
 - Parameters:
 - 0.173093, 0.208367, 70, -0.00099331, -1.887e-005, -0.00318069, -2.20387e-005, 0, -8.25941e-020, 6.07723e-018, 0.000198093, 0.000379917, 
 - Focal length: 70
 - Total focus distance: 556.523
 - Principal point: 0,0
 - Optical axis dir: 0.000198093,0.000379917,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,-0.00099331,-1.887e-005
 - Distort radial depth: -0.00318069,-2.20387e-005
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.986766
 - > Std. Dev.: 0.609474
 - > Min: 0.0231483
 - > Max: 3.61547
 - 
Iteration: 10
 - Parameters:
 - 0.171884, 0.238217, 70, 0.00550249, 9.14094e-006, -0.00633943, -2.6831e-005, 0, -8.25941e-020, 6.07723e-018, 0.000314001, 0.00315795, 
 - Focal length: 70
 - Total focus distance: 559.283
 - Principal point: 0,0
 - Optical axis dir: 0.000314001,0.00315795,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.00550249,9.14094e-006
 - Distort radial depth: -0.00633943,-2.6831e-005
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.354433
 - > Std. Dev.: 0.290344
 - > Min: 0.0277973
 - > Max: 2.44459
 - 
Iteration: 11
 - Parameters:
 - 0.173608, 0.218733, 70.0003, 0.0108491, 0.000246334, -0.00656241, 0.000592251, 0, -8.25941e-020, 6.07723e-018, 0.00124168, 0.00959972, 
 - Focal length: 70.0003
 - Total focus distance: 555.362
 - Principal point: 0,0
 - Optical axis dir: 0.00124168,0.00959972,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.0108491,0.000246334
 - Distort radial depth: -0.00656241,0.000592251
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.228631
 - > Std. Dev.: 0.199402
 - > Min: 0.0070755
 - > Max: 2.26256
 - 
Iteration: 12
 - Parameters:
 - 0.173333, 0.219674, 70.1229, 0.00422502, 0.00730314, -0.00747656, 0.00181499, 0, -8.25941e-020, 6.07723e-018, 0.00142585, 0.0104328, 
 - Focal length: 70.1229
 - Total focus distance: 556.956
 - Principal point: 0,0
 - Optical axis dir: 0.00142585,0.0104328,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.00422502,0.00730314
 - Distort radial depth: -0.00747656,0.00181499
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.214203
 - > Std. Dev.: 0.188219
 - > Min: 0.00416118
 - > Max: 2.11136
 - 
Iteration: 13
 - Parameters:
 - 0.173375, 0.220692, 70.4979, 0.00419954, 0.00729026, -0.00750442, 0.00182968, 0, -8.25941e-020, 6.07723e-018, 0.00139816, 0.0104705, 
 - Focal length: 70.4979
 - Total focus distance: 559.839
 - Principal point: 0,0
 - Optical axis dir: 0.00139816,0.0104705,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.00419954,0.00729026
 - Distort radial depth: -0.00750442,0.00182968
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.21289
 - > Std. Dev.: 0.188822
 - > Min: 0.00551497
 - > Max: 2.11723
 - 
Iteration: 14
 - Parameters:
 - 0.173501, 0.222696, 71.2478, 0.00542506, 0.00583773, -0.00754447, 0.00183652, 0, -8.25941e-020, 6.07723e-018, 0.001325, 0.0105267, 
 - Focal length: 71.2478
 - Total focus distance: 565.505
 - Principal point: 0,0
 - Optical axis dir: 0.001325,0.0105267,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.00542506,0.00583773
 - Distort radial depth: -0.00754447,0.00183652
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.210725
 - > Std. Dev.: 0.189827
 - > Min: 0.00968552
 - > Max: 2.12775
 - 
Iteration: 15
 - Parameters:
 - 0.173753, 0.226649, 72.7476, 0.00789965, 0.00290142, -0.00762296, 0.00184959, 0, -8.25941e-020, 6.07723e-018, 0.00117717, 0.0106388, 
 - Focal length: 72.7476
 - Total focus distance: 576.82
 - Principal point: 0,0
 - Optical axis dir: 0.00117717,0.0106388,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.00789965,0.00290142
 - Distort radial depth: -0.00762296,0.00184959
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.207222
 - > Std. Dev.: 0.1921
 - > Min: 0.00551738
 - > Max: 2.1487
 - 
Iteration: 16
 - Parameters:
 - 0.173867, 0.228469, 73.4596, 0.00899812, 0.00160413, -0.0076592, 0.00185556, 0, -8.25941e-020, 6.07723e-018, 0.00110738, 0.0106883, 
 - Focal length: 73.4596
 - Total focus distance: 582.197
 - Principal point: 0,0
 - Optical axis dir: 0.00110738,0.0106883,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.00899812,0.00160413
 - Distort radial depth: -0.0076592,0.00185556
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.206184
 - > Std. Dev.: 0.193032
 - > Min: 0.00404518
 - > Max: 2.15864
 - 
Iteration: 17
 - Parameters:
 - 0.173868, 0.228505, 73.4723, 0.00899631, 0.00161086, -0.00766012, 0.0018558, 0, -8.25941e-020, 6.07723e-018, 0.00110671, 0.0106876, 
 - Focal length: 73.4723
 - Total focus distance: 582.295
 - Principal point: 0,0
 - Optical axis dir: 0.00110671,0.0106876,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.00899631,0.00161086
 - Distort radial depth: -0.00766012,0.0018558
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.20618
 - > Std. Dev.: 0.193037
 - > Min: 0.00410687
 - > Max: 2.15887
 - 
Iteration: 18
 - Parameters:
 - 0.173868, 0.228506, 73.4725, 0.00899635, 0.00161086, -0.00766014, 0.0018558, 0, -8.25941e-020, 6.07723e-018, 0.00110669, 0.0106876, 
 - Focal length: 73.4725
 - Total focus distance: 582.297
 - Principal point: 0,0
 - Optical axis dir: 0.00110669,0.0106876,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.00899635,0.00161086
 - Distort radial depth: -0.00766014,0.0018558
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.206179
 - > Std. Dev.: 0.193038
 - > Min: 0.00410486
 - > Max: 2.15887
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.173868, 0.228505, 73.4723, 0.00899631, 0.00161086, -0.00766012, 0.0018558, 6.07723e-018, -8.25941e-020, 6.07723e-018, 0.00110671, 0.0106876, 
 - Focal length: 73.4723
 - Total focus distance: 582.295
 - Principal point: 0,0
 - Optical axis dir: 0.00110671,0.0106876,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -8.25941e-020
 - Distort radial: ,0.00899631,0.00161086
 - Distort radial depth: -0.00766012,0.0018558
 - Distort axial depth: 6.07723e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.20618
 - > Std. Dev.: 0.193037
 - > Min: 0.00410687
 - > Max: 2.15887
 - 
The Calibration converged successfully.
Calibration converged.

Entered image capturing page.
- Enabled data output.
- Writing files to: C:\Users\proberts\Pictures\Raytrix\Export\MetricCalibration-Canon-100-fl-45-cm-range\20191115_105606

Started Image Capturing of Image 6: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 3190 calibration target points.
Combining points into calibration target model...
Calculating depth of model points...
Found 1 potential calibration target model(s)
Analyzing calibration target model(s)...
Filtering target model(s)...
Accepted 1 calibration target model(s)
Result for model candidate 1:
 - Accepted
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 22.1969
 - > Std. Dev.: 10.0147
 - > Min: 1.01848
 - > Max: 55.2349
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 22.1969
 - > Std. Dev.: 10.0147
 - > Min: 1.01848
 - > Max: 55.2349
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.

Started Image Capturing of Image 7: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 3156 calibration target points.
Combining points into calibration target model...
Calculating depth of model points...
Found 1 potential calibration target model(s)
Analyzing calibration target model(s)...
Filtering target model(s)...
Accepted 1 calibration target model(s)
Result for model candidate 1:
 - Accepted
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 21.8674
 - > Std. Dev.: 9.76603
 - > Min: 0.740925
 - > Max: 56.8923
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 21.8674
 - > Std. Dev.: 9.76603
 - > Min: 0.740925
 - > Max: 56.8923
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.

Started Image Capturing of Image 8: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 3302 calibration target points.
Combining points into calibration target model...
Calculating depth of model points...
Found 1 potential calibration target model(s)
Analyzing calibration target model(s)...
Filtering target model(s)...
Accepted 1 calibration target model(s)
Result for model candidate 1:
 - Accepted
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 22.3919
 - > Std. Dev.: 9.96595
 - > Min: 1.05675
 - > Max: 58.3864
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 22.3919
 - > Std. Dev.: 9.96595
 - > Min: 1.05675
 - > Max: 58.3864
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.

Started Image Capturing of Image 9: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 3652 calibration target points.
Combining points into calibration target model...
Calculating depth of model points...
Found 1 potential calibration target model(s)
Analyzing calibration target model(s)...
Filtering target model(s)...
Accepted 1 calibration target model(s)
Result for model candidate 1:
 - Accepted
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 24.5867
 - > Std. Dev.: 11.8444
 - > Min: 0.821077
 - > Max: 67.4278
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 24.5867
 - > Std. Dev.: 11.8444
 - > Min: 0.821077
 - > Max: 67.4278
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.

Entered calibration page.
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 24.5867
 - > Std. Dev.: 11.8444
 - > Min: 0.821077
 - > Max: 67.4278
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 24.5867
 - > Std. Dev.: 11.8444
 - > Min: 0.821077
 - > Max: 67.4278
 - 
Evaluated error function
Calibration initialization finished successfully.

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 18.2252
 - > Std. Dev.: 10.3457
 - > Min: 0.665247
 - > Max: 54.4712
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 18.2252
 - > Std. Dev.: 10.3457
 - > Min: 0.665247
 - > Max: 54.4712
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 18.2252
 - > Std. Dev.: 10.3457
 - > Min: 0.665247
 - > Max: 54.4712
 - 
Iteration: 1
 - Parameters:
 - 0.106116, 0.113157, 63.0272, 0.213638, -0.269321, -0.0158874, 0.00701264, 0, 0, 0, 0.0039312, 0.00256161, 
 - Focal length: 63.0272
 - Total focus distance: 726.691
 - Principal point: 0,0
 - Optical axis dir: 0.0039312,0.00256161,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.213638,-0.269321
 - Distort radial depth: -0.0158874,0.00701264
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 28.0681
 - > Std. Dev.: 16.6249
 - > Min: 1.79073
 - > Max: 80.2932
 - 
Iteration: 2
 - Parameters:
 - 0.102951, 0.108153, 69.6244, 0.146692, -0.208287, -0.0148179, 0.00550012, 0, 0, 0, 0.00387691, 0.00281338, 
 - Focal length: 69.6244
 - Total focus distance: 822.7
 - Principal point: 0,0
 - Optical axis dir: 0.00387691,0.00281338,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.146692,-0.208287
 - Distort radial depth: -0.0148179,0.00550012
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 30.0951
 - > Std. Dev.: 17.8677
 - > Min: 1.61956
 - > Max: 86.7632
 - 
Iteration: 3
 - Parameters:
 - 0.0933302, 0.086968, 69.947, -0.0131229, -0.0497182, -0.012232, 0.00187365, 0, 0, 0, 0.00377628, 0.00318252, 
 - Focal length: 69.947
 - Total focus distance: 895.88
 - Principal point: 0,0
 - Optical axis dir: 0.00377628,0.00318252,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0131229,-0.0497182
 - Distort radial depth: -0.012232,0.00187365
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 35.2136
 - > Std. Dev.: 20.9947
 - > Min: 1.23885
 - > Max: 104.864
 - 
Iteration: 4
 - Parameters:
 - 0.0934306, 0.0774592, 69.9996, -0.0469867, -0.000862946, -0.00960775, -5.38623e-005, 0, 0, 0, 0.00226266, 0.00224341, 
 - Focal length: 69.9996
 - Total focus distance: 895.754
 - Principal point: 0,0
 - Optical axis dir: 0.00226266,0.00224341,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0469867,-0.000862946
 - Distort radial depth: -0.00960775,-5.38623e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 35.6307
 - > Std. Dev.: 21.1881
 - > Min: 0.987733
 - > Max: 107.932
 - 
Iteration: 5
 - Parameters:
 - 0.104043, 0.160813, 70, -6.53043e-005, -5.60176e-006, -0.000370407, -2.60704e-006, 0, 0, 0, 3.1814e-005, 8.06282e-005, 
 - Focal length: 70
 - Total focus distance: 820.079
 - Principal point: 0,0
 - Optical axis dir: 3.1814e-005,8.06282e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-6.53043e-005,-5.60176e-006
 - Distort radial depth: -0.000370407,-2.60704e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 31.4739
 - > Std. Dev.: 18.1243
 - > Min: 0.669408
 - > Max: 96.8487
 - 
Iteration: 6
 - Parameters:
 - 0.235999, 0.303993, 70, 7.87959e-005, 4.17503e-007, 2.36711e-006, 1.18103e-008, 0, 0, 0, -3.19571e-007, -1.0204e-007, 
 - Focal length: 70
 - Total focus distance: 453.131
 - Principal point: 0,0
 - Optical axis dir: -3.19571e-007,-1.0204e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,7.87959e-005,4.17503e-007
 - Distort radial depth: 2.36711e-006,1.18103e-008
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 11.7367
 - > Std. Dev.: 6.62239
 - > Min: 0.517905
 - > Max: 34.6532
 - 
Iteration: 7
 - Parameters:
 - 0.156789, 0.226209, 70, 0.000114132, -1.18121e-006, -0.000339731, -2.35644e-006, 0, -2.31996e-020, 1.1368e-017, -7.60466e-006, 3.7919e-005, 
 - Focal length: 70
 - Total focus distance: 597.434
 - Principal point: 0,0
 - Optical axis dir: -7.60466e-006,3.7919e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,0.000114132,-1.18121e-006
 - Distort radial depth: -0.000339731,-2.35644e-006
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 5.79893
 - > Std. Dev.: 3.45288
 - > Min: 0.232316
 - > Max: 18.7521
 - 
Iteration: 8
 - Parameters:
 - 0.173312, 0.2175, 70, -0.00179738, -2.23342e-005, -0.00259138, -1.72639e-005, 0, -2.31996e-020, 1.1368e-017, -0.000204909, 0.000513933, 
 - Focal length: 70
 - Total focus distance: 556.028
 - Principal point: 0,0
 - Optical axis dir: -0.000204909,0.000513933,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,-0.00179738,-2.23342e-005
 - Distort radial depth: -0.00259138,-1.72639e-005
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.948009
 - > Std. Dev.: 0.95844
 - > Min: 0.0997882
 - > Max: 4.98063
 - 
Iteration: 9
 - Parameters:
 - 0.173645, 0.235678, 70.0001, -0.000932776, -2.25127e-005, -0.00530914, -1.74333e-005, 0, -2.31996e-020, 1.1368e-017, -0.000575591, 0.00437279, 
 - Focal length: 70.0001
 - Total focus distance: 555.276
 - Principal point: 0,0
 - Optical axis dir: -0.000575591,0.00437279,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,-0.000932776,-2.25127e-005
 - Distort radial depth: -0.00530914,-1.74333e-005
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.596677
 - > Std. Dev.: 0.539804
 - > Min: 0.0462982
 - > Max: 6.24375
 - 
Iteration: 10
 - Parameters:
 - 0.173606, 0.259058, 70.003, 0.0137951, 0.001106, -0.0063466, 0.000605918, 0, -2.31996e-020, 1.1368e-017, 0.00140201, 0.0111343, 
 - Focal length: 70.003
 - Total focus distance: 555.387
 - Principal point: 0,0
 - Optical axis dir: 0.00140201,0.0111343,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,0.0137951,0.001106
 - Distort radial depth: -0.0063466,0.000605918
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.489817
 - > Std. Dev.: 0.495706
 - > Min: 0.0565988
 - > Max: 6.69824
 - 
Iteration: 11
 - Parameters:
 - 0.17311, 0.262467, 70.039, 0.00559668, 0.0111563, -0.00761887, 0.00226616, 0, -2.31996e-020, 1.1368e-017, 0.00119002, 0.011555, 
 - Focal length: 70.039
 - Total focus distance: 556.795
 - Principal point: 0,0
 - Optical axis dir: 0.00119002,0.011555,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,0.00559668,0.0111563
 - Distort radial depth: -0.00761887,0.00226616
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.476867
 - > Std. Dev.: 0.487106
 - > Min: 0.0419948
 - > Max: 5.85876
 - 
Iteration: 12
 - Parameters:
 - 0.172244, 0.263327, 70.3518, -0.0194617, 0.0385787, -0.00797209, 0.00267342, 0, -2.31996e-020, 1.1368e-017, 0.000999513, 0.0116616, 
 - Focal length: 70.3518
 - Total focus distance: 561.265
 - Principal point: 0,0
 - Optical axis dir: 0.000999513,0.0116616,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,-0.0194617,0.0385787
 - Distort radial depth: -0.00797209,0.00267342
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.475549
 - > Std. Dev.: 0.481109
 - > Min: 0.056394
 - > Max: 5.79293
 - 
Iteration: 13
 - Parameters:
 - 0.172142, 0.265223, 71.1885, -0.0264947, 0.0464327, -0.00802847, 0.00269282, 0, -2.31996e-020, 1.1368e-017, 0.000879125, 0.0116879, 
 - Focal length: 71.1885
 - Total focus distance: 568.176
 - Principal point: 0,0
 - Optical axis dir: 0.000879125,0.0116879,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,-0.0264947,0.0464327
 - Distort radial depth: -0.00802847,0.00269282
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.474016
 - > Std. Dev.: 0.476301
 - > Min: 0.0549611
 - > Max: 5.85519
 - 
Iteration: 14
 - Parameters:
 - 0.17255, 0.269081, 72.8689, -0.0227169, 0.0424271, -0.00809502, 0.00270581, 0, -2.31996e-020, 1.1368e-017, 0.00073559, 0.0116842, 
 - Focal length: 72.8689
 - Total focus distance: 580.618
 - Principal point: 0,0
 - Optical axis dir: 0.00073559,0.0116842,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,-0.0227169,0.0424271
 - Distort radial depth: -0.00809502,0.00270581
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.470178
 - > Std. Dev.: 0.469253
 - > Min: 0.0749298
 - > Max: 5.87763
 - 
Iteration: 15
 - Parameters:
 - 0.17344, 0.276406, 76.2288, -0.0125793, 0.0314758, -0.00821182, 0.00272563, 0, -2.31996e-020, 1.1368e-017, 0.000469719, 0.0116706, 
 - Focal length: 76.2288
 - Total focus distance: 605.19
 - Principal point: 0,0
 - Optical axis dir: 0.000469719,0.0116706,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,-0.0125793,0.0314758
 - Distort radial depth: -0.00821182,0.00272563
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.464789
 - > Std. Dev.: 0.456898
 - > Min: 0.0717511
 - > Max: 5.91063
 - 
Iteration: 16
 - Parameters:
 - 0.175154, 0.289821, 82.9486, 0.00733273, 0.00981293, -0.00841211, 0.00275023, 0, -2.31996e-020, 1.1368e-017, -3.54603e-005, 0.0116529, 
 - Focal length: 82.9486
 - Total focus distance: 654.001
 - Principal point: 0,0
 - Optical axis dir: -3.54603e-005,0.0116529,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,0.00733273,0.00981293
 - Distort radial depth: -0.00841211,0.00275023
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.46312
 - > Std. Dev.: 0.437876
 - > Min: 0.0604325
 - > Max: 6.0054
 - 
Iteration: 17
 - Parameters:
 - 0.176283, 0.298391, 88.0699, 0.0207105, -0.00474388, -0.00852561, 0.00275348, 0, -2.31996e-020, 1.1368e-017, -0.000333602, 0.011682, 
 - Focal length: 88.0699
 - Total focus distance: 691.258
 - Principal point: 0,0
 - Optical axis dir: -0.000333602,0.011682,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,0.0207105,-0.00474388
 - Distort radial depth: -0.00852561,0.00275348
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.460241
 - > Std. Dev.: 0.436015
 - > Min: 0.035883
 - > Max: 6.09488
 - 
Iteration: 18
 - Parameters:
 - 0.176256, 0.29843, 88.195, 0.0204103, -0.00433168, -0.00852488, 0.0027509, 0, -2.31996e-020, 1.1368e-017, -0.000282437, 0.0117212, 
 - Focal length: 88.195
 - Total focus distance: 692.316
 - Principal point: 0,0
 - Optical axis dir: -0.000282437,0.0117212,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,0.0204103,-0.00433168
 - Distort radial depth: -0.00852488,0.0027509
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.457024
 - > Std. Dev.: 0.439257
 - > Min: 0.0344277
 - > Max: 6.09833
 - 
Iteration: 19
 - Parameters:
 - 0.176258, 0.298448, 88.2068, 0.0204265, -0.00435076, -0.00852505, 0.0027506, 0, -2.31996e-020, 1.1368e-017, -0.00028512, 0.0117196, 
 - Focal length: 88.2068
 - Total focus distance: 692.403
 - Principal point: 0,0
 - Optical axis dir: -0.00028512,0.0117196,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,0.0204265,-0.00435076
 - Distort radial depth: -0.00852505,0.0027506
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.457036
 - > Std. Dev.: 0.439245
 - > Min: 0.034429
 - > Max: 6.09891
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.176258, 0.298448, 88.2068, 0.0204265, -0.00435076, -0.00852505, 0.0027506, 1.1368e-017, -2.31996e-020, 1.1368e-017, -0.00028512, 0.0117196, 
 - Focal length: 88.2068
 - Total focus distance: 692.403
 - Principal point: 0,0
 - Optical axis dir: -0.00028512,0.0117196,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -2.31996e-020
 - Distort radial: ,0.0204265,-0.00435076
 - Distort radial depth: -0.00852505,0.0027506
 - Distort axial depth: 1.1368e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.457036
 - > Std. Dev.: 0.439245
 - > Min: 0.034429
 - > Max: 6.09891
 - 
The Calibration converged successfully.
Calibration converged.

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 20.1768
 - > Std. Dev.: 9.67326
 - > Min: 0.596834
 - > Max: 55.7505
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 20.1768
 - > Std. Dev.: 9.67326
 - > Min: 0.596834
 - > Max: 55.7505
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 20.1768
 - > Std. Dev.: 9.67326
 - > Min: 0.596834
 - > Max: 55.7505
 - 
Iteration: 1
 - Parameters:
 - 0.106121, 0.128472, 63.4676, 0.207935, -0.245172, -0.0169088, 0.00812581, 0, 0, 0, 0.00290838, 0.00356162, 
 - Focal length: 63.4676
 - Total focus distance: 731.737
 - Principal point: 0,0
 - Optical axis dir: 0.00290838,0.00356162,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.207935,-0.245172
 - Distort radial depth: -0.0169088,0.00812581
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 31.028
 - > Std. Dev.: 15.2326
 - > Min: 2.12548
 - > Max: 82.5057
 - 
Iteration: 2
 - Parameters:
 - 0.103915, 0.126115, 69.4757, 0.154867, -0.194355, -0.0160297, 0.00683571, 0, 0, 0, 0.00283168, 0.00374886, 
 - Focal length: 69.4757
 - Total focus distance: 814.755
 - Principal point: 0,0
 - Optical axis dir: 0.00283168,0.00374886,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.154867,-0.194355
 - Distort radial depth: -0.0160297,0.00683571
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 32.7229
 - > Std. Dev.: 16.1232
 - > Min: 2.28802
 - > Max: 87.8209
 - 
Iteration: 3
 - Parameters:
 - 0.0956391, 0.107873, 69.9336, 0.0111999, -0.0484201, -0.0131863, 0.00278917, 0, 0, 0, 0.00273087, 0.00402591, 
 - Focal length: 69.9336
 - Total focus distance: 877.779
 - Principal point: 0,0
 - Optical axis dir: 0.00273087,0.00402591,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0111999,-0.0484201
 - Distort radial depth: -0.0131863,0.00278917
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 37.4713
 - > Std. Dev.: 18.5583
 - > Min: 2.41046
 - > Max: 103.916
 - 
Iteration: 4
 - Parameters:
 - 0.0935718, 0.101136, 69.9957, -0.0309557, -0.00371534, -0.0112129, 0.000191694, 0, 0, 0, 0.00255926, 0.00395933, 
 - Focal length: 69.9957
 - Total focus distance: 894.584
 - Principal point: 0,0
 - Optical axis dir: 0.00255926,0.00395933,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0309557,-0.00371534
 - Distort radial depth: -0.0112129,0.000191694
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 38.9332
 - > Std. Dev.: 19.3299
 - > Min: 2.44588
 - > Max: 109.534
 - 
Iteration: 5
 - Parameters:
 - 0.103466, 0.121408, 70, -0.000895434, -1.60715e-005, -0.00084359, -5.90462e-006, 0, 0, 0, 3.50892e-005, 0.000111647, 
 - Focal length: 70
 - Total focus distance: 823.793
 - Principal point: 0,0
 - Optical axis dir: 3.50892e-005,0.000111647,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.000895434,-1.60715e-005
 - Distort radial depth: -0.00084359,-5.90462e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 35.4558
 - > Std. Dev.: 17.1598
 - > Min: 0.434561
 - > Max: 100.255
 - 
Iteration: 6
 - Parameters:
 - 0.227515, 0.303854, 70, 8.8373e-005, 4.60869e-007, 2.62648e-006, 1.28697e-008, 0, 0, 0, -2.79229e-007, -6.6239e-008, 
 - Focal length: 70
 - Total focus distance: 463.598
 - Principal point: 0,0
 - Optical axis dir: -2.79229e-007,-6.6239e-008,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,8.8373e-005,4.60869e-007
 - Distort radial depth: 2.62648e-006,1.28697e-008
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 11.6501
 - > Std. Dev.: 5.50063
 - > Min: 0.561112
 - > Max: 31.527
 - 
Iteration: 7
 - Parameters:
 - 0.161808, 0.206669, 70, -6.01815e-005, -3.33257e-006, -0.00058917, -4.06851e-006, 0, -7.1609e-019, 2.23195e-017, -1.51301e-005, 4.94017e-005, 
 - Focal length: 70
 - Total focus distance: 583.938
 - Principal point: 0,0
 - Optical axis dir: -1.51301e-005,4.94017e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,-6.01815e-005,-3.33257e-006
 - Distort radial depth: -0.00058917,-4.06851e-006
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 4.77641
 - > Std. Dev.: 2.38665
 - > Min: 0.309821
 - > Max: 14.3176
 - 
Iteration: 8
 - Parameters:
 - 0.173811, 0.209568, 70, -0.00225993, -2.88147e-005, -0.00328631, -2.10674e-005, 0, -7.1609e-019, 2.23195e-017, -0.000245284, 0.000759693, 
 - Focal length: 70
 - Total focus distance: 554.903
 - Principal point: 0,0
 - Optical axis dir: -0.000245284,0.000759693,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,-0.00225993,-2.88147e-005
 - Distort radial depth: -0.00328631,-2.10674e-005
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.852618
 - > Std. Dev.: 0.85702
 - > Min: 0.0168862
 - > Max: 4.5052
 - 
Iteration: 9
 - Parameters:
 - 0.17327, 0.240516, 70.0001, 0.000768011, -2.39852e-006, -0.00569112, -2.19268e-006, 0, -7.1609e-019, 2.23195e-017, -0.00035179, 0.00591184, 
 - Focal length: 70.0001
 - Total focus distance: 556.123
 - Principal point: 0,0
 - Optical axis dir: -0.00035179,0.00591184,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,0.000768011,-2.39852e-006
 - Distort radial depth: -0.00569112,-2.19268e-006
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.595461
 - > Std. Dev.: 0.516955
 - > Min: 0.0389868
 - > Max: 6.68505
 - 
Iteration: 10
 - Parameters:
 - 0.17309, 0.257396, 70.004, 0.0096117, 0.00143129, -0.00676435, 0.000955117, 0, -7.1609e-019, 2.23195e-017, 0.00174949, 0.0115222, 
 - Focal length: 70.004
 - Total focus distance: 556.562
 - Principal point: 0,0
 - Optical axis dir: 0.00174949,0.0115222,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,0.0096117,0.00143129
 - Distort radial depth: -0.00676435,0.000955117
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.495049
 - > Std. Dev.: 0.496249
 - > Min: 0.0100814
 - > Max: 6.67573
 - 
Iteration: 11
 - Parameters:
 - 0.172375, 0.259657, 70.0849, -0.00489153, 0.0168741, -0.00793666, 0.00247852, 0, -7.1609e-019, 2.23195e-017, 0.00161591, 0.0117972, 
 - Focal length: 70.0849
 - Total focus distance: 558.835
 - Principal point: 0,0
 - Optical axis dir: 0.00161591,0.0117972,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,-0.00489153,0.0168741
 - Distort radial depth: -0.00793666,0.00247852
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.487717
 - > Std. Dev.: 0.4852
 - > Min: 0.0258417
 - > Max: 5.93563
 - 
Iteration: 12
 - Parameters:
 - 0.171942, 0.260465, 70.5285, -0.0189977, 0.032145, -0.00806166, 0.00260149, 0, -7.1609e-019, 2.23195e-017, 0.00153291, 0.0118391, 
 - Focal length: 70.5285
 - Total focus distance: 563.372
 - Principal point: 0,0
 - Optical axis dir: 0.00153291,0.0118391,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,-0.0189977,0.032145
 - Distort radial depth: -0.00806166,0.00260149
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.48827
 - > Std. Dev.: 0.48026
 - > Min: 0.0188558
 - > Max: 5.95434
 - 
Iteration: 13
 - Parameters:
 - 0.172059, 0.262704, 71.4675, -0.0198167, 0.033151, -0.00810982, 0.00261388, 0, -7.1609e-019, 2.23195e-017, 0.00146263, 0.0118708, 
 - Focal length: 71.4675
 - Total focus distance: 570.597
 - Principal point: 0,0
 - Optical axis dir: 0.00146263,0.0118708,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,-0.0198167,0.033151
 - Distort radial depth: -0.00810982,0.00261388
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.48636
 - > Std. Dev.: 0.476223
 - > Min: 0.0267985
 - > Max: 5.98849
 - 
Iteration: 14
 - Parameters:
 - 0.172492, 0.267106, 73.3451, -0.0156802, 0.0288335, -0.00819013, 0.00263384, 0, -7.1609e-019, 2.23195e-017, 0.00134369, 0.0119254, 
 - Focal length: 73.3451
 - Total focus distance: 584.551
 - Principal point: 0,0
 - Optical axis dir: 0.00134369,0.0119254,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,-0.0156802,0.0288335
 - Distort radial depth: -0.00819013,0.00263384
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.482586
 - > Std. Dev.: 0.469607
 - > Min: 0.0134116
 - > Max: 6.02461
 - 
Iteration: 15
 - Parameters:
 - 0.17336, 0.275466, 77.1002, -0.00691124, 0.0196028, -0.00833756, 0.00266845, 0, -7.1609e-019, 2.23195e-017, 0.00111249, 0.0120338, 
 - Focal length: 77.1002
 - Total focus distance: 612.308
 - Principal point: 0,0
 - Optical axis dir: 0.00111249,0.0120338,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,-0.00691124,0.0196028
 - Distort radial depth: -0.00833756,0.00266845
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.479278
 - > Std. Dev.: 0.457449
 - > Min: 0.0232874
 - > Max: 6.09614
 - 
Iteration: 16
 - Parameters:
 - 0.174965, 0.290085, 84.3494, 0.00954925, 0.00213949, -0.00858257, 0.00271858, 0, -7.1609e-019, 2.23195e-017, 0.000687736, 0.0122429, 
 - Focal length: 84.3494
 - Total focus distance: 665.549
 - Principal point: 0,0
 - Optical axis dir: 0.000687736,0.0122429,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,0.00954925,0.00213949
 - Distort radial depth: -0.00858257,0.00271858
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.486058
 - > Std. Dev.: 0.438642
 - > Min: 0.0530755
 - > Max: 6.24536
 - 
Iteration: 17
 - Parameters:
 - 0.174949, 0.290224, 84.7273, 0.00931759, 0.00252189, -0.00858149, 0.00271546, 0, -7.1609e-019, 2.23195e-017, 0.000728995, 0.0122835, 
 - Focal length: 84.7273
 - Total focus distance: 668.575
 - Principal point: 0,0
 - Optical axis dir: 0.000728995,0.0122835,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,0.00931759,0.00252189
 - Distort radial depth: -0.00858149,0.00271546
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.47868
 - > Std. Dev.: 0.446104
 - > Min: 0.0426388
 - > Max: 6.24943
 - 
Iteration: 18
 - Parameters:
 - 0.17495, 0.290241, 84.7363, 0.00930976, 0.00253325, -0.00858164, 0.00271498, 0, -7.1609e-019, 2.23195e-017, 0.000727924, 0.0122843, 
 - Focal length: 84.7363
 - Total focus distance: 668.644
 - Principal point: 0,0
 - Optical axis dir: 0.000727924,0.0122843,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,0.00930976,0.00253325
 - Distort radial depth: -0.00858164,0.00271498
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.47866
 - > Std. Dev.: 0.446124
 - > Min: 0.042613
 - > Max: 6.25029
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.17495, 0.290241, 84.7363, 0.00930976, 0.00253325, -0.00858164, 0.00271498, 2.23195e-017, -7.1609e-019, 2.23195e-017, 0.000727924, 0.0122843, 
 - Focal length: 84.7363
 - Total focus distance: 668.644
 - Principal point: 0,0
 - Optical axis dir: 0.000727924,0.0122843,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.1609e-019
 - Distort radial: ,0.00930976,0.00253325
 - Distort radial depth: -0.00858164,0.00271498
 - Distort axial depth: 2.23195e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.47866
 - > Std. Dev.: 0.446124
 - > Min: 0.042613
 - > Max: 6.25029
 - 
The Calibration converged successfully.
Calibration converged.

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 18.4518
 - > Std. Dev.: 10.375
 - > Min: 0.710555
 - > Max: 57.0804
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 18.4518
 - > Std. Dev.: 10.375
 - > Min: 0.710555
 - > Max: 57.0804
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 18.4518
 - > Std. Dev.: 10.375
 - > Min: 0.710555
 - > Max: 57.0804
 - 
Iteration: 1
 - Parameters:
 - 0.0979252, 0.116791, 63.0228, 0.0719709, -0.0996046, -0.0150182, 0.00464495, 0, 0, 0, 0.00212962, 0.00290272, 
 - Focal length: 63.0228
 - Total focus distance: 775.798
 - Principal point: 0,0
 - Optical axis dir: 0.00212962,0.00290272,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0719709,-0.0996046
 - Distort radial depth: -0.0150182,0.00464495
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 32.0111
 - > Std. Dev.: 18.8324
 - > Min: 1.38613
 - > Max: 101.087
 - 
Iteration: 2
 - Parameters:
 - 0.0979086, 0.122079, 68.5518, 0.057221, -0.085447, -0.0146704, 0.00404877, 0, 0, 0, 0.00214077, 0.00304912, 
 - Focal length: 68.5518
 - Total focus distance: 843.976
 - Principal point: 0,0
 - Optical axis dir: 0.00214077,0.00304912,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.057221,-0.085447
 - Distort radial depth: -0.0146704,0.00404877
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 32.5579
 - > Std. Dev.: 19.1498
 - > Min: 1.32972
 - > Max: 102.964
 - 
Iteration: 3
 - Parameters:
 - 0.09472, 0.114186, 69.8081, -0.000544232, -0.029156, -0.0131596, 0.00193258, 0, 0, 0, 0.00204926, 0.00308812, 
 - Focal length: 69.8081
 - Total focus distance: 883.222
 - Principal point: 0,0
 - Optical axis dir: 0.00204926,0.00308812,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.000544232,-0.029156
 - Distort radial depth: -0.0131596,0.00193258
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 34.4765
 - > Std. Dev.: 20.3221
 - > Min: 0.934383
 - > Max: 109.253
 - 
Iteration: 4
 - Parameters:
 - 0.0966297, 0.101517, 69.9997, -0.0189226, -0.000257374, -0.00836345, -5.55818e-005, 0, 0, 0, 0.000445094, 0.00152587, 
 - Focal length: 69.9997
 - Total focus distance: 871.175
 - Principal point: 0,0
 - Optical axis dir: 0.000445094,0.00152587,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0189226,-0.000257374
 - Distort radial depth: -0.00836345,-5.55818e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 34.3043
 - > Std. Dev.: 19.9409
 - > Min: 0.880022
 - > Max: 107.494
 - 
Iteration: 5
 - Parameters:
 - 0.101892, 0.213849, 70, 0.000283328, -1.58201e-007, -0.000219264, -1.53518e-006, 0, 0, 0, 1.44757e-006, 2.07144e-005, 
 - Focal length: 70
 - Total focus distance: 834.133
 - Principal point: 0,0
 - Optical axis dir: 1.44757e-006,2.07144e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000283328,-1.58201e-007
 - Distort radial depth: -0.000219264,-1.53518e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 32.0814
 - > Std. Dev.: 17.9581
 - > Min: 0.768149
 - > Max: 99.6127
 - 
Iteration: 6
 - Parameters:
 - 0.243452, 0.304031, 70, 7.16606e-005, 4.01723e-007, 2.12194e-006, 1.13733e-008, 0, 0, 0, -1.7082e-007, 4.19331e-007, 
 - Focal length: 70
 - Total focus distance: 444.573
 - Principal point: 0,0
 - Optical axis dir: -1.7082e-007,4.19331e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,7.16606e-005,4.01723e-007
 - Distort radial depth: 2.12194e-006,1.13733e-008
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 12.9733
 - > Std. Dev.: 7.28298
 - > Min: 0.572602
 - > Max: 39.9203
 - 
Iteration: 7
 - Parameters:
 - 0.149663, 0.257221, 70, 0.000229784, 7.28376e-007, -0.000185167, -1.28776e-006, 0, -1.16694e-019, 5.45476e-018, -5.20951e-006, 1.76176e-005, 
 - Focal length: 70
 - Total focus distance: 618.193
 - Principal point: 0,0
 - Optical axis dir: -5.20951e-006,1.76176e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,0.000229784,7.28376e-007
 - Distort radial depth: -0.000185167,-1.28776e-006
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 7.77012
 - > Std. Dev.: 4.38183
 - > Min: 0.285551
 - > Max: 25.0427
 - 
Iteration: 8
 - Parameters:
 - 0.171802, 0.230348, 70, -0.000202478, -3.91379e-006, -0.00110477, -7.69082e-006, 0, -1.16694e-019, 5.45476e-018, -6.86643e-005, 0.000186452, 
 - Focal length: 70
 - Total focus distance: 559.472
 - Principal point: 0,0
 - Optical axis dir: -6.86643e-005,0.000186452,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.000202478,-3.91379e-006
 - Distort radial depth: -0.00110477,-7.69082e-006
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 1.43484
 - > Std. Dev.: 1.19762
 - > Min: 0.0766972
 - > Max: 6.90157
 - 
Iteration: 9
 - Parameters:
 - 0.174589, 0.216591, 70, -0.00133704, -1.60153e-005, -0.00309003, -2.11534e-005, 0, -1.16694e-019, 5.45476e-018, -0.000273919, 0.000740627, 
 - Focal length: 70
 - Total focus distance: 553.163
 - Principal point: 0,0
 - Optical axis dir: -0.000273919,0.000740627,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.00133704,-1.60153e-005
 - Distort radial depth: -0.00309003,-2.11534e-005
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.740563
 - > Std. Dev.: 0.857268
 - > Min: 0.0726853
 - > Max: 4.46861
 - 
Iteration: 10
 - Parameters:
 - 0.173213, 0.245417, 70, 0.00209437, 2.88679e-005, -0.00558908, -2.91429e-005, 0, -1.16694e-019, 5.45476e-018, -0.00132105, 0.00396571, 
 - Focal length: 70
 - Total focus distance: 556.25
 - Principal point: 0,0
 - Optical axis dir: -0.00132105,0.00396571,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,0.00209437,2.88679e-005
 - Distort radial depth: -0.00558908,-2.91429e-005
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.55177
 - > Std. Dev.: 0.53516
 - > Min: 0.0616041
 - > Max: 3.25494
 - 
Iteration: 11
 - Parameters:
 - 0.174296, 0.243063, 70.0017, 0.00980933, 0.00164577, -0.00622328, 0.000524103, 0, -1.16694e-019, 5.45476e-018, -0.00274041, 0.0100737, 
 - Focal length: 70.0017
 - Total focus distance: 553.83
 - Principal point: 0,0
 - Optical axis dir: -0.00274041,0.0100737,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,0.00980933,0.00164577
 - Distort radial depth: -0.00622328,0.000524103
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.4519
 - > Std. Dev.: 0.446401
 - > Min: 0.0389714
 - > Max: 3.605
 - 
Iteration: 12
 - Parameters:
 - 0.173741, 0.245116, 70.0208, -0.00133722, 0.0135696, -0.00723105, 0.00180814, 0, -1.16694e-019, 5.45476e-018, -0.00295618, 0.0101764, 
 - Focal length: 70.0208
 - Total focus distance: 555.226
 - Principal point: 0,0
 - Optical axis dir: -0.00295618,0.0101764,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.00133722,0.0135696
 - Distort radial depth: -0.00723105,0.00180814
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.449336
 - > Std. Dev.: 0.432121
 - > Min: 0.0154408
 - > Max: 3.04743
 - 
Iteration: 13
 - Parameters:
 - 0.172734, 0.243927, 70.1966, -0.0308308, 0.0447288, -0.00749725, 0.00213016, 0, -1.16694e-019, 5.45476e-018, -0.0033171, 0.0100447, 
 - Focal length: 70.1966
 - Total focus distance: 558.904
 - Principal point: 0,0
 - Optical axis dir: -0.0033171,0.0100447,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.0308308,0.0447288
 - Distort radial depth: -0.00749725,0.00213016
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.45106
 - > Std. Dev.: 0.422367
 - > Min: 0.0547675
 - > Max: 3.041
 - 
Iteration: 14
 - Parameters:
 - 0.17255, 0.245481, 70.948, -0.0395177, 0.0543502, -0.00754731, 0.00214497, 0, -1.16694e-019, 5.45476e-018, -0.00341084, 0.0100887, 
 - Focal length: 70.948
 - Total focus distance: 565.313
 - Principal point: 0,0
 - Optical axis dir: -0.00341084,0.0100887,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.0395177,0.0543502
 - Distort radial depth: -0.00754731,0.00214497
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.450869
 - > Std. Dev.: 0.418586
 - > Min: 0.0515001
 - > Max: 3.09762
 - 
Iteration: 15
 - Parameters:
 - 0.172822, 0.2498, 72.4633, -0.0376122, 0.0530442, -0.00763537, 0.00217681, 0, -1.16694e-019, 5.45476e-018, -0.0033472, 0.0102862, 
 - Focal length: 72.4633
 - Total focus distance: 576.744
 - Principal point: 0,0
 - Optical axis dir: -0.0033472,0.0102862,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.0376122,0.0530442
 - Distort radial depth: -0.00763537,0.00217681
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.448107
 - > Std. Dev.: 0.415357
 - > Min: 0.0576276
 - > Max: 3.09471
 - 
Iteration: 16
 - Parameters:
 - 0.173413, 0.25818, 75.4935, -0.032261, 0.0486818, -0.00780182, 0.00223773, 0, -1.16694e-019, 5.45476e-018, -0.00317993, 0.0106942, 
 - Focal length: 75.4935
 - Total focus distance: 599.418
 - Principal point: 0,0
 - Optical axis dir: -0.00317993,0.0106942,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.032261,0.0486818
 - Distort radial depth: -0.00780182,0.00223773
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.444194
 - > Std. Dev.: 0.410268
 - > Min: 0.0555625
 - > Max: 3.07885
 - 
Iteration: 17
 - Parameters:
 - 0.174506, 0.272929, 81.2249, -0.022313, 0.0403848, -0.00808851, 0.00233986, 0, -1.16694e-019, 5.45476e-018, -0.00283722, 0.0114621, 
 - Focal length: 81.2249
 - Total focus distance: 642.081
 - Principal point: 0,0
 - Optical axis dir: -0.00283722,0.0114621,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.022313,0.0403848
 - Distort radial depth: -0.00808851,0.00233986
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.442646
 - > Std. Dev.: 0.404647
 - > Min: 0.0378658
 - > Max: 3.05562
 - 
Iteration: 18
 - Parameters:
 - 0.174587, 0.273909, 81.8661, -0.0215457, 0.0396988, -0.00810363, 0.00233989, 0, -1.16694e-019, 5.45476e-018, -0.00275306, 0.0115723, 
 - Focal length: 81.8661
 - Total focus distance: 646.938
 - Principal point: 0,0
 - Optical axis dir: -0.00275306,0.0115723,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.0215457,0.0396988
 - Distort radial depth: -0.00810363,0.00233989
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.439871
 - > Std. Dev.: 0.407433
 - > Min: 0.0317143
 - > Max: 3.06173
 - 
Iteration: 19
 - Parameters:
 - 0.174597, 0.27404, 81.9232, -0.0214255, 0.0395801, -0.00810615, 0.00234017, 0, -1.16694e-019, 5.45476e-018, -0.00274259, 0.0115848, 
 - Focal length: 81.9232
 - Total focus distance: 647.363
 - Principal point: 0,0
 - Optical axis dir: -0.00274259,0.0115848,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.0214255,0.0395801
 - Distort radial depth: -0.00810615,0.00234017
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.439855
 - > Std. Dev.: 0.407449
 - > Min: 0.031068
 - > Max: 3.06255
 - 
Iteration: 20
 - Parameters:
 - 0.174598, 0.274054, 81.929, -0.0214116, 0.0395662, -0.00810642, 0.00234022, 0, -1.16694e-019, 5.45476e-018, -0.00274139, 0.0115861, 
 - Focal length: 81.929
 - Total focus distance: 647.406
 - Principal point: 0,0
 - Optical axis dir: -0.00274139,0.0115861,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.0214116,0.0395662
 - Distort radial depth: -0.00810642,0.00234022
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.439859
 - > Std. Dev.: 0.407445
 - > Min: 0.0310008
 - > Max: 3.06261
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.174598, 0.274054, 81.929, -0.0214116, 0.0395662, -0.00810642, 0.00234022, 5.45476e-018, -1.16694e-019, 5.45476e-018, -0.00274139, 0.0115861, 
 - Focal length: 81.929
 - Total focus distance: 647.406
 - Principal point: 0,0
 - Optical axis dir: -0.00274139,0.0115861,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -1.16694e-019
 - Distort radial: ,-0.0214116,0.0395662
 - Distort radial depth: -0.00810642,0.00234022
 - Distort axial depth: 5.45476e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.439859
 - > Std. Dev.: 0.407445
 - > Min: 0.0310008
 - > Max: 3.06261
 - 
The Calibration converged successfully.
Calibration converged.

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 15.407
 - > Std. Dev.: 9.8388
 - > Min: 0.630124
 - > Max: 51.5397
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 15.407
 - > Std. Dev.: 9.8388
 - > Min: 0.630124
 - > Max: 51.5397
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 15.407
 - > Std. Dev.: 9.8388
 - > Min: 0.630124
 - > Max: 51.5397
 - 
Iteration: 1
 - Parameters:
 - 0.107046, 0.059645, 63.3448, 0.238073, -0.317716, -0.0146087, 0.00464884, 0, 0, 0, -0.000485597, 0.000193376, 
 - Focal length: 63.3448
 - Total focus distance: 725.225
 - Principal point: 0,0
 - Optical axis dir: -0.000485597,0.000193376,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.238073,-0.317716
 - Distort radial depth: -0.0146087,0.00464884
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 24.1299
 - > Std. Dev.: 16.0751
 - > Min: 0.618227
 - > Max: 73.3421
 - 
Iteration: 2
 - Parameters:
 - 0.0996031, 0.0485363, 69.6712, 0.107286, -0.196761, -0.0132547, 0.00274681, 0, 0, 0, -0.000394091, 0.000510665, 
 - Focal length: 69.6712
 - Total focus distance: 845.77
 - Principal point: 0,0
 - Optical axis dir: -0.000394091,0.000510665,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.107286,-0.196761
 - Distort radial depth: -0.0132547,0.00274681
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 27.5339
 - > Std. Dev.: 18.3551
 - > Min: 0.698042
 - > Max: 85.1148
 - 
Iteration: 3
 - Parameters:
 - 0.0897038, 0.0299782, 69.9485, -0.0491114, -0.0448941, -0.0117236, 0.000607136, 0, 0, 0, -0.000308585, 0.00083245, 
 - Focal length: 69.9485
 - Total focus distance: 925.943
 - Principal point: 0,0
 - Optical axis dir: -0.000308585,0.00083245,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0491114,-0.0448941
 - Distort radial depth: -0.0117236,0.000607136
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 32.4071
 - > Std. Dev.: 21.644
 - > Min: 1.02244
 - > Max: 104.114
 - 
Iteration: 4
 - Parameters:
 - 0.09642, 0.06153, 69.9999, -0.0344211, -0.000451791, -0.00694834, -5.11277e-005, 0, 0, 0, -0.000281526, 0.000618262, 
 - Focal length: 69.9999
 - Total focus distance: 872.738
 - Principal point: 0,0
 - Optical axis dir: -0.000281526,0.000618262,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0344211,-0.000451791
 - Distort radial depth: -0.00694834,-5.11277e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 29.3414
 - > Std. Dev.: 19.3182
 - > Min: 0.446794
 - > Max: 96.6157
 - 
Iteration: 5
 - Parameters:
 - 0.105228, 0.279438, 70, 0.000282119, 1.1645e-006, -2.55161e-005, -1.90076e-007, 0, 0, 0, 7.00675e-006, 5.09416e-006, 
 - Focal length: 70
 - Total focus distance: 812.588
 - Principal point: 0,0
 - Optical axis dir: 7.00675e-006,5.09416e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000282119,1.1645e-006
 - Distort radial depth: -2.55161e-005,-1.90076e-007
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 23.4455
 - > Std. Dev.: 15.8468
 - > Min: 1.1061
 - > Max: 76.6707
 - 
Iteration: 6
 - Parameters:
 - 0.240552, 0.303644, 70, 7.37486e-005, 3.89626e-007, 2.06934e-006, 1.03639e-008, 0, 0, 0, -4.34755e-007, 2.64409e-007, 
 - Focal length: 70
 - Total focus distance: 447.836
 - Principal point: 0,0
 - Optical axis dir: -4.34755e-007,2.64409e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,7.37486e-005,3.89626e-007
 - Distort radial depth: 2.06934e-006,1.03639e-008
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 10.5523
 - > Std. Dev.: 6.70834
 - > Min: 0.71935
 - > Max: 35.5233
 - 
Iteration: 7
 - Parameters:
 - 0.151325, 0.243492, 70, 0.000114058, -9.29079e-007, -0.000246356, -1.73432e-006, 0, 9.54266e-020, 7.71076e-018, -9.44464e-007, 2.10383e-005, 
 - Focal length: 70
 - Total focus distance: 613.173
 - Principal point: 0,0
 - Optical axis dir: -9.44464e-007,2.10383e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,0.000114058,-9.29079e-007
 - Distort radial depth: -0.000246356,-1.73432e-006
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 5.87798
 - > Std. Dev.: 3.99736
 - > Min: 0.467425
 - > Max: 21.3799
 - 
Iteration: 8
 - Parameters:
 - 0.172252, 0.217955, 70, -0.000659865, -9.80127e-006, -0.00121157, -8.56195e-006, 0, 9.54266e-020, 7.71076e-018, -0.000115369, 0.000153101, 
 - Focal length: 70
 - Total focus distance: 558.44
 - Principal point: 0,0
 - Optical axis dir: -0.000115369,0.000153101,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,-0.000659865,-9.80127e-006
 - Distort radial depth: -0.00121157,-8.56195e-006
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 1.02916
 - > Std. Dev.: 1.15947
 - > Min: 0.0979752
 - > Max: 6.59167
 - 
Iteration: 9
 - Parameters:
 - 0.174468, 0.20647, 70, -0.00327793, -4.10503e-005, -0.00325066, -2.28285e-005, 0, 9.54266e-020, 7.71076e-018, -0.000455307, 0.000569154, 
 - Focal length: 70
 - Total focus distance: 553.433
 - Principal point: 0,0
 - Optical axis dir: -0.000455307,0.000569154,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,-0.00327793,-4.10503e-005
 - Distort radial depth: -0.00325066,-2.28285e-005
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.580472
 - > Std. Dev.: 0.758226
 - > Min: 0.0235852
 - > Max: 4.49727
 - 
Iteration: 10
 - Parameters:
 - 0.172794, 0.227948, 70, -0.00531513, -8.58162e-005, -0.00576309, -3.26797e-005, 0, 9.54266e-020, 7.71076e-018, -0.00241441, 0.00347405, 
 - Focal length: 70
 - Total focus distance: 557.201
 - Principal point: 0,0
 - Optical axis dir: -0.00241441,0.00347405,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,-0.00531513,-8.58162e-005
 - Distort radial depth: -0.00576309,-3.26797e-005
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.419904
 - > Std. Dev.: 0.446385
 - > Min: 0.0311044
 - > Max: 2.69075
 - 
Iteration: 11
 - Parameters:
 - 0.173687, 0.227358, 70.004, 0.00160456, 0.00132319, -0.00652315, 0.000688316, 0, 9.54266e-020, 7.71076e-018, -0.00454198, 0.00839681, 
 - Focal length: 70.004
 - Total focus distance: 555.214
 - Principal point: 0,0
 - Optical axis dir: -0.00454198,0.00839681,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,0.00160456,0.00132319
 - Distort radial depth: -0.00652315,0.000688316
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.353099
 - > Std. Dev.: 0.382135
 - > Min: 0.0535444
 - > Max: 2.85677
 - 
Iteration: 12
 - Parameters:
 - 0.173087, 0.230238, 70.1062, -0.0111379, 0.0156457, -0.00725418, 0.00159572, 0, 9.54266e-020, 7.71076e-018, -0.0043347, 0.00872429, 
 - Focal length: 70.1062
 - Total focus distance: 557.382
 - Principal point: 0,0
 - Optical axis dir: -0.0043347,0.00872429,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,-0.0111379,0.0156457
 - Distort radial depth: -0.00725418,0.00159572
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.354695
 - > Std. Dev.: 0.375458
 - > Min: 0.0346637
 - > Max: 2.57031
 - 
Iteration: 13
 - Parameters:
 - 0.172902, 0.231689, 70.5204, -0.0175743, 0.0229273, -0.00732395, 0.00164543, 0, 9.54266e-020, 7.71076e-018, -0.00429044, 0.0088295, 
 - Focal length: 70.5204
 - Total focus distance: 561.097
 - Principal point: 0,0
 - Optical axis dir: -0.00429044,0.0088295,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,-0.0175743,0.0229273
 - Distort radial depth: -0.00732395,0.00164543
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.354548
 - > Std. Dev.: 0.373846
 - > Min: 0.0196896
 - > Max: 2.58503
 - 
Iteration: 14
 - Parameters:
 - 0.173053, 0.233618, 71.2807, -0.0163959, 0.0217781, -0.00735885, 0.00165171, 0, 9.54266e-020, 7.71076e-018, -0.00434714, 0.00885679, 
 - Focal length: 71.2807
 - Total focus distance: 566.799
 - Principal point: 0,0
 - Optical axis dir: -0.00434714,0.00885679,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,-0.0163959,0.0217781
 - Distort radial depth: -0.00735885,0.00165171
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.353315
 - > Std. Dev.: 0.372464
 - > Min: 0.0203041
 - > Max: 2.5947
 - 
Iteration: 15
 - Parameters:
 - 0.173435, 0.237216, 72.8007, -0.0118053, 0.0169166, -0.00741784, 0.00166188, 0, 9.54266e-020, 7.71076e-018, -0.00447886, 0.00888718, 
 - Focal length: 72.8007
 - Total focus distance: 577.986
 - Principal point: 0,0
 - Optical axis dir: -0.00447886,0.00888718,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,-0.0118053,0.0169166
 - Distort radial depth: -0.00741784,0.00166188
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.350936
 - > Std. Dev.: 0.37026
 - > Min: 0.0293095
 - > Max: 2.60356
 - 
Iteration: 16
 - Parameters:
 - 0.174195, 0.244124, 75.8405, -0.00252974, 0.00703894, -0.00752813, 0.0016797, 0, 9.54266e-020, 7.71076e-018, -0.00473512, 0.00895053, 
 - Focal length: 75.8405
 - Total focus distance: 600.269
 - Principal point: 0,0
 - Optical axis dir: -0.00473512,0.00895053,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,-0.00252974,0.00703894
 - Distort radial depth: -0.00752813,0.0016797
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.347617
 - > Std. Dev.: 0.366913
 - > Min: 0.033518
 - > Max: 2.62109
 - 
Iteration: 17
 - Parameters:
 - 0.175438, 0.25501, 80.9945, 0.0126758, -0.00923147, -0.00769466, 0.00170245, 0, 9.54266e-020, 7.71076e-018, -0.00514006, 0.00907411, 
 - Focal length: 80.9945
 - Total focus distance: 637.869
 - Principal point: 0,0
 - Optical axis dir: -0.00514006,0.00907411,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,0.0126758,-0.00923147
 - Distort radial depth: -0.00769466,0.00170245
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.345261
 - > Std. Dev.: 0.364963
 - > Min: 0.0659115
 - > Max: 2.65473
 - 
Iteration: 18
 - Parameters:
 - 0.175445, 0.255225, 81.2644, 0.0124869, -0.00889558, -0.00769767, 0.00170062, 0, 9.54266e-020, 7.71076e-018, -0.00514716, 0.00910503, 
 - Focal length: 81.2644
 - Total focus distance: 639.975
 - Principal point: 0,0
 - Optical axis dir: -0.00514716,0.00910503,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,0.0124869,-0.00889558
 - Distort radial depth: -0.00769767,0.00170062
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.342648
 - > Std. Dev.: 0.367288
 - > Min: 0.0593157
 - > Max: 2.65903
 - 
Iteration: 19
 - Parameters:
 - 0.175446, 0.255246, 81.2731, 0.0124765, -0.00887713, -0.00769804, 0.00170043, 0, 9.54266e-020, 7.71076e-018, -0.00514777, 0.00910673, 
 - Focal length: 81.2731
 - Total focus distance: 640.042
 - Principal point: 0,0
 - Optical axis dir: -0.00514777,0.00910673,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,0.0124765,-0.00887713
 - Distort radial depth: -0.00769804,0.00170043
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.342647
 - > Std. Dev.: 0.367289
 - > Min: 0.0592994
 - > Max: 2.65952
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.175446, 0.255246, 81.2731, 0.0124765, -0.00887713, -0.00769804, 0.00170043, 7.71076e-018, 9.54266e-020, 7.71076e-018, -0.00514777, 0.00910673, 
 - Focal length: 81.2731
 - Total focus distance: 640.042
 - Principal point: 0,0
 - Optical axis dir: -0.00514777,0.00910673,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 9.54266e-020
 - Distort radial: ,0.0124765,-0.00887713
 - Distort radial depth: -0.00769804,0.00170043
 - Distort axial depth: 7.71076e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.342647
 - > Std. Dev.: 0.367289
 - > Min: 0.0592994
 - > Max: 2.65952
 - 
The Calibration converged successfully.
Calibration converged.

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 17.7274
 - > Std. Dev.: 10.2674
 - > Min: 0.433254
 - > Max: 53.7325
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 17.7274
 - > Std. Dev.: 10.2674
 - > Min: 0.433254
 - > Max: 53.7325
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 17.7274
 - > Std. Dev.: 10.2674
 - > Min: 0.433254
 - > Max: 53.7325
 - 
Iteration: 1
 - Parameters:
 - 0.106951, 0.133061, 63.3871, 0.225867, -0.273923, -0.0168547, 0.00918305, 0, 0, 0, 0.00340655, 0.00312797, 
 - Focal length: 63.3871
 - Total focus distance: 726.229
 - Principal point: 0,0
 - Optical axis dir: 0.00340655,0.00312797,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.225867,-0.273923
 - Distort radial depth: -0.0168547,0.00918305
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 27.0349
 - > Std. Dev.: 16.1955
 - > Min: 0.737241
 - > Max: 77.9661
 - 
Iteration: 2
 - Parameters:
 - 0.102824, 0.124789, 69.5414, 0.142666, -0.193427, -0.0153649, 0.00712006, 0, 0, 0, 0.00324431, 0.00333631, 
 - Focal length: 69.5414
 - Total focus distance: 822.546
 - Principal point: 0,0
 - Optical axis dir: 0.00324431,0.00333631,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.142666,-0.193427
 - Distort radial depth: -0.0153649,0.00712006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 29.3662
 - > Std. Dev.: 17.7112
 - > Min: 1.20047
 - > Max: 86.0131
 - 
Iteration: 3
 - Parameters:
 - 0.0943851, 0.105069, 69.9339, -0.00260486, -0.046777, -0.0121636, 0.00262153, 0, 0, 0, 0.00309309, 0.0036123, 
 - Focal length: 69.9339
 - Total focus distance: 887.411
 - Principal point: 0,0
 - Optical axis dir: 0.00309309,0.0036123,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.00260486,-0.046777
 - Distort radial depth: -0.0121636,0.00262153
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 33.7442
 - > Std. Dev.: 20.4719
 - > Min: 1.21954
 - > Max: 102.392
 - 
Iteration: 4
 - Parameters:
 - 0.0927183, 0.0967616, 69.9984, -0.0431411, -0.00166343, -0.00992027, 1.62516e-005, 0, 0, 0, 0.00260698, 0.00327641, 
 - Focal length: 69.9984
 - Total focus distance: 901.444
 - Principal point: 0,0
 - Optical axis dir: 0.00260698,0.00327641,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0431411,-0.00166343
 - Distort radial depth: -0.00992027,1.62516e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 34.9178
 - > Std. Dev.: 21.2109
 - > Min: 0.804685
 - > Max: 107.622
 - 
Iteration: 5
 - Parameters:
 - 0.103417, 0.152429, 70, -0.000450061, -1.0072e-005, -0.000475573, -3.31225e-006, 0, 0, 0, 4.78706e-005, 7.23111e-005, 
 - Focal length: 70
 - Total focus distance: 824.108
 - Principal point: 0,0
 - Optical axis dir: 4.78706e-005,7.23111e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.000450061,-1.0072e-005
 - Distort radial depth: -0.000475573,-3.31225e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 31.4117
 - > Std. Dev.: 18.1701
 - > Min: 0.734442
 - > Max: 96.9093
 - 
Iteration: 6
 - Parameters:
 - 0.236457, 0.304483, 70, 7.29033e-005, 3.66704e-007, 2.29815e-006, 1.09947e-008, 0, 0, 0, -3.4852e-007, -1.02228e-007, 
 - Focal length: 70
 - Total focus distance: 452.589
 - Principal point: 0,0
 - Optical axis dir: -3.4852e-007,-1.02228e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,7.29033e-005,3.66704e-007
 - Distort radial depth: 2.29815e-006,1.09947e-008
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 11.4297
 - > Std. Dev.: 6.61212
 - > Min: 0.592765
 - > Max: 34.3463
 - 
Iteration: 7
 - Parameters:
 - 0.15665, 0.231065, 70, -8.51451e-005, -3.17879e-006, -0.00038003, -2.6156e-006, 0, -3.23759e-020, 1.06645e-017, -5.39951e-006, 3.71626e-005, 
 - Focal length: 70
 - Total focus distance: 597.821
 - Principal point: 0,0
 - Optical axis dir: -5.39951e-006,3.71626e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-8.51451e-005,-3.17879e-006
 - Distort radial depth: -0.00038003,-2.6156e-006
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 5.78239
 - > Std. Dev.: 3.40201
 - > Min: 0.12522
 - > Max: 18.6065
 - 
Iteration: 8
 - Parameters:
 - 0.172968, 0.232745, 70, -0.00248283, -2.93481e-005, -0.00277801, -1.7941e-005, 0, -3.23759e-020, 1.06645e-017, -0.000215424, 0.000607129, 
 - Focal length: 70
 - Total focus distance: 556.807
 - Principal point: 0,0
 - Optical axis dir: -0.000215424,0.000607129,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-0.00248283,-2.93481e-005
 - Distort radial depth: -0.00277801,-1.7941e-005
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.928835
 - > Std. Dev.: 0.914025
 - > Min: 0.0267311
 - > Max: 4.59354
 - 
Iteration: 9
 - Parameters:
 - 0.173058, 0.26541, 70, -0.00335465, -4.63951e-005, -0.00577846, -1.27748e-005, 0, -3.23759e-020, 1.06645e-017, -0.000447712, 0.00474225, 
 - Focal length: 70
 - Total focus distance: 556.604
 - Principal point: 0,0
 - Optical axis dir: -0.000447712,0.00474225,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-0.00335465,-4.63951e-005
 - Distort radial depth: -0.00577846,-1.27748e-005
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.513215
 - > Std. Dev.: 0.442527
 - > Min: 0.0276935
 - > Max: 6.69872
 - 
Iteration: 10
 - Parameters:
 - 0.172966, 0.284262, 70.001, 0.0077195, 0.00112553, -0.00695303, 0.000871859, 0, -3.23759e-020, 1.06645e-017, 0.00166479, 0.0107089, 
 - Focal length: 70.001
 - Total focus distance: 556.819
 - Principal point: 0,0
 - Optical axis dir: 0.00166479,0.0107089,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,0.0077195,0.00112553
 - Distort radial depth: -0.00695303,0.000871859
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.391982
 - > Std. Dev.: 0.393919
 - > Min: 0.018869
 - > Max: 6.93257
 - 
Iteration: 11
 - Parameters:
 - 0.1723, 0.287423, 70.016, -0.00294525, 0.0125233, -0.00844633, 0.00284605, 0, -3.23759e-020, 1.06645e-017, 0.00173259, 0.0111284, 
 - Focal length: 70.016
 - Total focus distance: 558.456
 - Principal point: 0,0
 - Optical axis dir: 0.00173259,0.0111284,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-0.00294525,0.0125233
 - Distort radial depth: -0.00844633,0.00284605
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.373339
 - > Std. Dev.: 0.381336
 - > Min: 0.00865002
 - > Max: 5.93076
 - 
Iteration: 12
 - Parameters:
 - 0.171597, 0.287233, 70.4111, -0.0247354, 0.0360574, -0.0086897, 0.00314149, 0, -3.23759e-020, 1.06645e-017, 0.00158956, 0.0112254, 
 - Focal length: 70.4111
 - Total focus distance: 563.232
 - Principal point: 0,0
 - Optical axis dir: 0.00158956,0.0112254,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-0.0247354,0.0360574
 - Distort radial depth: -0.0086897,0.00314149
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.372255
 - > Std. Dev.: 0.378576
 - > Min: 0.0128478
 - > Max: 5.87725
 - 
Iteration: 13
 - Parameters:
 - 0.171817, 0.288971, 71.3337, -0.0232104, 0.0346002, -0.00871608, 0.00314978, 0, -3.23759e-020, 1.06645e-017, 0.00151393, 0.0112698, 
 - Focal length: 71.3337
 - Total focus distance: 570.097
 - Principal point: 0,0
 - Optical axis dir: 0.00151393,0.0112698,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-0.0232104,0.0346002
 - Distort radial depth: -0.00871608,0.00314978
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.373714
 - > Std. Dev.: 0.375776
 - > Min: 0.0150306
 - > Max: 5.88395
 - 
Iteration: 14
 - Parameters:
 - 0.172334, 0.292398, 73.1782, -0.0176457, 0.0288986, -0.00876132, 0.00316085, 0, -3.23759e-020, 1.06645e-017, 0.001381, 0.0113562, 
 - Focal length: 73.1782
 - Total focus distance: 583.598
 - Principal point: 0,0
 - Optical axis dir: 0.001381,0.0113562,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-0.0176457,0.0288986
 - Distort radial depth: -0.00876132,0.00316085
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.377259
 - > Std. Dev.: 0.370961
 - > Min: 0.021117
 - > Max: 5.88899
 - 
Iteration: 15
 - Parameters:
 - 0.172413, 0.292957, 73.506, -0.0168177, 0.0280673, -0.00876818, 0.0031616, 0, -3.23759e-020, 1.06645e-017, 0.00135668, 0.0113714, 
 - Focal length: 73.506
 - Total focus distance: 586.022
 - Principal point: 0,0
 - Optical axis dir: 0.00135668,0.0113714,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-0.0168177,0.0280673
 - Distort radial depth: -0.00876818,0.0031616
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.377397
 - > Std. Dev.: 0.370787
 - > Min: 0.019538
 - > Max: 5.89155
 - 
Iteration: 16
 - Parameters:
 - 0.172413, 0.292966, 73.5085, -0.0168246, 0.028078, -0.00876827, 0.00316147, 0, -3.23759e-020, 1.06645e-017, 0.00135605, 0.0113719, 
 - Focal length: 73.5085
 - Total focus distance: 586.043
 - Principal point: 0,0
 - Optical axis dir: 0.00135605,0.0113719,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-0.0168246,0.028078
 - Distort radial depth: -0.00876827,0.00316147
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.37738
 - > Std. Dev.: 0.370804
 - > Min: 0.019527
 - > Max: 5.89186
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.172413, 0.292966, 73.5085, -0.0168246, 0.028078, -0.00876827, 0.00316147, 1.06645e-017, -3.23759e-020, 1.06645e-017, 0.00135605, 0.0113719, 
 - Focal length: 73.5085
 - Total focus distance: 586.043
 - Principal point: 0,0
 - Optical axis dir: 0.00135605,0.0113719,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -3.23759e-020
 - Distort radial: ,-0.0168246,0.028078
 - Distort radial depth: -0.00876827,0.00316147
 - Distort axial depth: 1.06645e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.37738
 - > Std. Dev.: 0.370804
 - > Min: 0.019527
 - > Max: 5.89186
 - 
The Calibration converged successfully.
Calibration converged.

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.3796
 - > Std. Dev.: 12.2112
 - > Min: 0.710032
 - > Max: 62.1765
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.3796
 - > Std. Dev.: 12.2112
 - > Min: 0.710032
 - > Max: 62.1765
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.3796
 - > Std. Dev.: 12.2112
 - > Min: 0.710032
 - > Max: 62.1765
 - 
Iteration: 1
 - Parameters:
 - 0.101744, 0.13828, 62.7131, 0.122206, -0.127795, -0.0158149, 0.0062972, 0, 0, 0, -0.00182733, 0.00518073, 
 - Focal length: 62.7131
 - Total focus distance: 748.188
 - Principal point: 0,0
 - Optical axis dir: -0.00182733,0.00518073,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.122206,-0.127795
 - Distort radial depth: -0.0158149,0.0062972
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 42.2542
 - > Std. Dev.: 19.1607
 - > Min: 5.31088
 - > Max: 98.5911
 - 
Iteration: 2
 - Parameters:
 - 0.102554, 0.145823, 68.5836, 0.122501, -0.129283, -0.0155982, 0.00585749, 0, 0, 0, -0.00201607, 0.00554769, 
 - Focal length: 68.5836
 - Total focus distance: 812.955
 - Principal point: 0,0
 - Optical axis dir: -0.00201607,0.00554769,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.122501,-0.129283
 - Distort radial depth: -0.0155982,0.00585749
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 42.4762
 - > Std. Dev.: 19.2809
 - > Min: 5.59025
 - > Max: 99.5596
 - 
Iteration: 3
 - Parameters:
 - 0.0972396, 0.136226, 69.885, 0.0326884, -0.0428014, -0.0134772, 0.00274713, 0, 0, 0, -0.00206066, 0.00585229, 
 - Focal length: 69.885
 - Total focus distance: 865.253
 - Principal point: 0,0
 - Optical axis dir: -0.00206066,0.00585229,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0326884,-0.0428014
 - Distort radial depth: -0.0134772,0.00274713
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 46.5406
 - > Std. Dev.: 21.1264
 - > Min: 5.69707
 - > Max: 110.672
 - 
Iteration: 4
 - Parameters:
 - 0.0949972, 0.126567, 69.9986, -0.0107027, -0.0007967, -0.0110413, -1.91249e-005, 0, 0, 0, -0.00172626, 0.00523786, 
 - Focal length: 69.9986
 - Total focus distance: 883.495
 - Principal point: 0,0
 - Optical axis dir: -0.00172626,0.00523786,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0107027,-0.0007967
 - Distort radial depth: -0.0110413,-1.91249e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 48.5853
 - > Std. Dev.: 22.1734
 - > Min: 5.20941
 - > Max: 116.885
 - 
Iteration: 5
 - Parameters:
 - 0.101291, 0.142651, 70, -0.000436628, -1.12042e-005, -0.000794525, -5.54038e-006, 0, 0, 0, -5.3839e-005, 0.000155775, 
 - Focal length: 70
 - Total focus distance: 838.167
 - Principal point: 0,0
 - Optical axis dir: -5.3839e-005,0.000155775,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.000436628,-1.12042e-005
 - Distort radial depth: -0.000794525,-5.54038e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 46.1429
 - > Std. Dev.: 21.8153
 - > Min: 1.42101
 - > Max: 113.446
 - 
Iteration: 6
 - Parameters:
 - 0.232997, 0.304778, 70, 7.39285e-005, 3.59604e-007, 2.22184e-006, 9.64519e-009, 0, 0, 0, 1.18262e-007, 3.97529e-007, 
 - Focal length: 70
 - Total focus distance: 456.743
 - Principal point: 0,0
 - Optical axis dir: 1.18262e-007,3.97529e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,7.39285e-005,3.59604e-007
 - Distort radial depth: 2.22184e-006,9.64519e-009
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 15.79
 - > Std. Dev.: 7.44629
 - > Min: 1.01049
 - > Max: 39.2827
 - 
Iteration: 7
 - Parameters:
 - 0.157591, 0.225457, 70, 5.65885e-005, -1.90717e-006, -0.000504703, -3.46327e-006, 0, -5.14319e-019, 1.5452e-017, -1.32781e-005, 6.04146e-005, 
 - Focal length: 70
 - Total focus distance: 595.219
 - Principal point: 0,0
 - Optical axis dir: -1.32781e-005,6.04146e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,5.65885e-005,-1.90717e-006
 - Distort radial depth: -0.000504703,-3.46327e-006
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 7.59812
 - > Std. Dev.: 3.44778
 - > Min: 0.404919
 - > Max: 19.51
 - 
Iteration: 8
 - Parameters:
 - 0.17278, 0.223742, 70, -0.000942319, -1.48298e-005, -0.00294279, -1.9211e-005, 0, -5.14319e-019, 1.5452e-017, -1.86938e-005, 0.000808932, 
 - Focal length: 70
 - Total focus distance: 557.235
 - Principal point: 0,0
 - Optical axis dir: -1.86938e-005,0.000808932,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.000942319,-1.48298e-005
 - Distort radial depth: -0.00294279,-1.9211e-005
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 1.54766
 - > Std. Dev.: 0.744323
 - > Min: 0.0659232
 - > Max: 4.54348
 - 
Iteration: 9
 - Parameters:
 - 0.173627, 0.248153, 70, 0.00464009, 5.49643e-005, -0.00558708, -1.46419e-005, 0, -5.14319e-019, 1.5452e-017, -0.000337391, 0.00529901, 
 - Focal length: 70
 - Total focus distance: 555.316
 - Principal point: 0,0
 - Optical axis dir: -0.000337391,0.00529901,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,0.00464009,5.49643e-005
 - Distort radial depth: -0.00558708,-1.46419e-005
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.877723
 - > Std. Dev.: 0.460686
 - > Min: 0.0152265
 - > Max: 6.65579
 - 
Iteration: 10
 - Parameters:
 - 0.174266, 0.25164, 70.0056, 0.0130431, 0.00279958, -0.0065142, 0.000979464, 0, -5.14319e-019, 1.5452e-017, -0.000924967, 0.00975762, 
 - Focal length: 70.0056
 - Total focus distance: 553.928
 - Principal point: 0,0
 - Optical axis dir: -0.000924967,0.00975762,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,0.0130431,0.00279958
 - Distort radial depth: -0.0065142,0.000979464
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.778745
 - > Std. Dev.: 0.402064
 - > Min: 0.0178005
 - > Max: 6.40899
 - 
Iteration: 11
 - Parameters:
 - 0.173448, 0.252704, 70.07, -0.00472382, 0.0204281, -0.00750987, 0.00227002, 0, -5.14319e-019, 1.5452e-017, -0.00103702, 0.010006, 
 - Focal length: 70.07
 - Total focus distance: 556.275
 - Principal point: 0,0
 - Optical axis dir: -0.00103702,0.010006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.00472382,0.0204281
 - Distort radial depth: -0.00750987,0.00227002
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.764509
 - > Std. Dev.: 0.394757
 - > Min: 0.00840507
 - > Max: 5.75348
 - 
Iteration: 12
 - Parameters:
 - 0.172727, 0.253285, 70.5001, -0.0258944, 0.0422459, -0.00765984, 0.00241305, 0, -5.14319e-019, 1.5452e-017, -0.00104637, 0.0100661, 
 - Focal length: 70.5001
 - Total focus distance: 561.336
 - Principal point: 0,0
 - Optical axis dir: -0.00104637,0.0100661,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.0258944,0.0422459
 - Distort radial depth: -0.00765984,0.00241305
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.758107
 - > Std. Dev.: 0.393672
 - > Min: 0.0165289
 - > Max: 5.76908
 - 
Iteration: 13
 - Parameters:
 - 0.172756, 0.255703, 71.4656, -0.0287876, 0.0453633, -0.00771638, 0.00242907, 0, -5.14319e-019, 1.5452e-017, -0.00105943, 0.0101749, 
 - Focal length: 71.4656
 - Total focus distance: 568.957
 - Principal point: 0,0
 - Optical axis dir: -0.00105943,0.0101749,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.0287876,0.0453633
 - Distort radial depth: -0.00771638,0.00242907
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.752493
 - > Std. Dev.: 0.389517
 - > Min: 0.0184815
 - > Max: 5.81528
 - 
Iteration: 14
 - Parameters:
 - 0.173113, 0.260472, 73.3975, -0.0262189, 0.042906, -0.00781073, 0.00246044, 0, -5.14319e-019, 1.5452e-017, -0.00107386, 0.0103961, 
 - Focal length: 73.3975
 - Total focus distance: 583.488
 - Principal point: 0,0
 - Optical axis dir: -0.00107386,0.0103961,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.0262189,0.042906
 - Distort radial depth: -0.00781073,0.00246044
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.742898
 - > Std. Dev.: 0.381756
 - > Min: 0.0267929
 - > Max: 5.86672
 - 
Iteration: 15
 - Parameters:
 - 0.173845, 0.269459, 77.2613, -0.0203095, 0.0371491, -0.00798351, 0.00251682, 0, -5.14319e-019, 1.5452e-017, -0.00109387, 0.0108364, 
 - Focal length: 77.2613
 - Total focus distance: 612.381
 - Principal point: 0,0
 - Optical axis dir: -0.00109387,0.0108364,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.0203095,0.0371491
 - Distort radial depth: -0.00798351,0.00251682
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.727978
 - > Std. Dev.: 0.370584
 - > Min: 0.0228541
 - > Max: 5.9635
 - 
Iteration: 16
 - Parameters:
 - 0.175391, 0.286997, 85.7108, -0.00755679, 0.0245868, -0.00830686, 0.00261564, 0, -5.14319e-019, 1.5452e-017, -0.00110865, 0.0117813, 
 - Focal length: 85.7108
 - Total focus distance: 675.137
 - Principal point: 0,0
 - Optical axis dir: -0.00110865,0.0117813,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.00755679,0.0245868
 - Distort radial depth: -0.00830686,0.00261564
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.71505
 - > Std. Dev.: 0.360599
 - > Min: 0.0201051
 - > Max: 6.16971
 - 
Iteration: 17
 - Parameters:
 - 0.175426, 0.287308, 86.5453, -0.00776934, 0.0249021, -0.00830839, 0.00261259, 0, -5.14319e-019, 1.5452e-017, -0.0011032, 0.0118572, 
 - Focal length: 86.5453
 - Total focus distance: 681.616
 - Principal point: 0,0
 - Optical axis dir: -0.0011032,0.0118572,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.00776934,0.0249021
 - Distort radial depth: -0.00830839,0.00261259
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.71389
 - > Std. Dev.: 0.361377
 - > Min: 0.0222293
 - > Max: 6.17728
 - 
Iteration: 18
 - Parameters:
 - 0.175429, 0.28733, 86.5736, -0.00777486, 0.0249139, -0.00830862, 0.00261201, 0, -5.14319e-019, 1.5452e-017, -0.00110493, 0.011864, 
 - Focal length: 86.5736
 - Total focus distance: 681.832
 - Principal point: 0,0
 - Optical axis dir: -0.00110493,0.011864,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.00777486,0.0249139
 - Distort radial depth: -0.00830862,0.00261201
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.713891
 - > Std. Dev.: 0.361375
 - > Min: 0.0222544
 - > Max: 6.17848
 - 
Iteration: 19
 - Parameters:
 - 0.175429, 0.287332, 86.575, -0.00777513, 0.0249143, -0.00830865, 0.002612, 0, -5.14319e-019, 1.5452e-017, -0.00110493, 0.0118643, 
 - Focal length: 86.575
 - Total focus distance: 681.843
 - Principal point: 0,0
 - Optical axis dir: -0.00110493,0.0118643,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.00777513,0.0249143
 - Distort radial depth: -0.00830865,0.002612
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.713891
 - > Std. Dev.: 0.361374
 - > Min: 0.0222454
 - > Max: 6.17853
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.175429, 0.287332, 86.575, -0.00777513, 0.0249143, -0.00830865, 0.002612, 1.5452e-017, -5.14319e-019, 1.5452e-017, -0.00110493, 0.0118643, 
 - Focal length: 86.575
 - Total focus distance: 681.843
 - Principal point: 0,0
 - Optical axis dir: -0.00110493,0.0118643,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.14319e-019
 - Distort radial: ,-0.00777513,0.0249143
 - Distort radial depth: -0.00830865,0.002612
 - Distort axial depth: 1.5452e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.713891
 - > Std. Dev.: 0.361374
 - > Min: 0.0222454
 - > Max: 6.17853
 - 
The Calibration converged successfully.
Calibration converged.
Camera not calibrated with this parameter set
No collection found for this calibration
Camera not calibrated with this parameter set
No collection found for this calibration
Camera not calibrated with this parameter set
No collection found for this calibration
Camera not calibrated with this parameter set
No collection found for this calibration

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Principle point
 - Distortion center
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.3796
 - > Std. Dev.: 12.2112
 - > Min: 0.710032
 - > Max: 62.1765
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.3796
 - > Std. Dev.: 12.2112
 - > Min: 0.710032
 - > Max: 62.1765
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 25.3796
 - > Std. Dev.: 12.2112
 - > Min: 0.710032
 - > Max: 62.1765
 - 
Iteration: 1
 - Parameters:
 - 0.102155, 0.138433, 64.6351, 0.0126053, -0.440926, 0.122517, -0.127155, 7.92063e-016, -3.37478e-015, -0.0157913, 0.00626711, 0, 0, 0, -0.00175958, 0.00508303, 
 - Focal length: 64.6351
 - Total focus distance: 768.588
 - Principal point: 0.0126053,-0.440926
 - Optical axis dir: -0.00175958,0.00508303,-1
 - Distort center: 7.92063e-016,-3.37478e-015
 - Distortion frame z-offset: 0
 - Distort radial: ,0.122517,-0.127155
 - Distort radial depth: -0.0157913,0.00626711
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 42.2507
 - > Std. Dev.: 19.2202
 - > Min: 5.3362
 - > Max: 98.9438
 - 
Iteration: 2
 - Parameters:
 - 0.102283, 0.145076, 68.8795, 0.00198104, -0.0864055, 0.117093, -0.123897, 1.18271e-016, -5.91249e-016, -0.0154996, 0.00571508, 0, 0, 0, -0.00200108, 0.00553762, 
 - Focal length: 68.8795
 - Total focus distance: 818.227
 - Principal point: 0.00198104,-0.0864055
 - Optical axis dir: -0.00200108,0.00553762,-1
 - Distort center: 1.18271e-016,-5.91249e-016
 - Distortion frame z-offset: 0
 - Distort radial: ,0.117093,-0.123897
 - Distort radial depth: -0.0154996,0.00571508
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 42.6989
 - > Std. Dev.: 19.3922
 - > Min: 5.55152
 - > Max: 100.232
 - 
Iteration: 3
 - Parameters:
 - 0.0971413, 0.135967, 69.8909, 8.67681e-006, -0.00790989, 0.0309559, -0.0410808, 9.83588e-018, -4.31494e-017, -0.0134191, 0.00266455, 0, 0, 0, -0.0020581, 0.00585259, 
 - Focal length: 69.8909
 - Total focus distance: 866.048
 - Principal point: 8.67681e-006,-0.00790989
 - Optical axis dir: -0.0020581,0.00585259,-1
 - Distort center: 9.83588e-018,-4.31494e-017
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0309559,-0.0410808
 - Distort radial depth: -0.0134191,0.00266455
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 46.6199
 - > Std. Dev.: 21.164
 - > Min: 5.69173
 - > Max: 110.913
 - 
Iteration: 4
 - Parameters:
 - 0.0950177, 0.125804, 69.9988, -5.14593e-007, -8.51596e-005, -0.0109858, -0.000689435, 1.11095e-019, -3.96902e-019, -0.0109367, -2.85855e-005, 0, 0, 0, -0.0016717, 0.00511121, 
 - Focal length: 69.9988
 - Total focus distance: 883.341
 - Principal point: -5.14593e-007,-8.51596e-005
 - Optical axis dir: -0.0016717,0.00511121,-1
 - Distort center: 1.11095e-019,-3.96902e-019
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0109858,-0.000689435
 - Distort radial depth: -0.0109367,-2.85855e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 48.5923
 - > Std. Dev.: 22.1947
 - > Min: 5.15065
 - > Max: 116.945
 - 
Iteration: 5
 - Parameters:
 - 0.10132, 0.145294, 70, 1.08614e-009, -3.72777e-007, -0.000372563, -1.03164e-005, 4.22818e-022, -1.23235e-021, -0.000754455, -5.25946e-006, 0, 0, 0, -5.15568e-005, 0.000148336, 
 - Focal length: 70
 - Total focus distance: 837.97
 - Principal point: 1.08614e-009,-3.72777e-007
 - Optical axis dir: -5.15568e-005,0.000148336,-1
 - Distort center: 4.22818e-022,-1.23235e-021
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.000372563,-1.03164e-005
 - Distort radial depth: -0.000754455,-5.25946e-006
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 46.1064
 - > Std. Dev.: 21.7954
 - > Min: 1.38504
 - > Max: 113.352
 - 
Iteration: 6
 - Parameters:
 - 0.233678, 0.304788, 70, -4.61623e-011, -6.57033e-010, 7.30747e-005, 3.55463e-007, -1.7155e-024, -3.95115e-023, 2.19955e-006, 9.55631e-009, 0, 0, 0, 1.17221e-007, 3.92226e-007, 
 - Focal length: 70
 - Total focus distance: 455.915
 - Principal point: -4.61623e-011,-6.57033e-010
 - Optical axis dir: 1.17221e-007,3.92226e-007,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 0
 - Distort radial: ,7.30747e-005,3.55463e-007
 - Distort radial depth: 2.19955e-006,9.55631e-009
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 15.9264
 - > Std. Dev.: 7.51432
 - > Min: 1.00656
 - > Max: 39.6081
 - 
Iteration: 7
 - Parameters:
 - 0.157166, 0.226959, 70, 4.43162e-007, -1.46508e-007, 6.83537e-005, -1.73886e-006, -1.7155e-024, -3.95115e-023, -0.000483007, -3.31476e-006, 0, 1.17437e-019, 1.45696e-017, -1.29233e-005, 5.77165e-005, 
 - Focal length: 70
 - Total focus distance: 596.389
 - Principal point: 4.43162e-007,-1.46508e-007
 - Optical axis dir: -1.29233e-005,5.77165e-005,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,6.83537e-005,-1.73886e-006
 - Distort radial depth: -0.000483007,-3.31476e-006
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 7.78119
 - > Std. Dev.: 3.53696
 - > Min: 0.412613
 - > Max: 19.9613
 - 
Iteration: 8
 - Parameters:
 - 0.172704, 0.224289, 70, 4.4284e-007, -1.23573e-006, -0.000920292, -1.44854e-005, -1.7155e-024, -3.95115e-023, -0.00291226, -1.90163e-005, 0, 1.17437e-019, 1.45696e-017, -1.6968e-005, 0.000795969, 
 - Focal length: 70
 - Total focus distance: 557.407
 - Principal point: 4.4284e-007,-1.23573e-006
 - Optical axis dir: -1.6968e-005,0.000795969,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,-0.000920292,-1.44854e-005
 - Distort radial depth: -0.00291226,-1.90163e-005
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 1.56761
 - > Std. Dev.: 0.754449
 - > Min: 0.0748306
 - > Max: 4.56662
 - 
Iteration: 9
 - Parameters:
 - 0.173623, 0.248108, 70, 7.56686e-008, -2.28898e-006, 0.00455639, 5.36996e-005, -1.7155e-024, -3.95115e-023, -0.00557897, -1.50345e-005, 0, 1.17437e-019, 1.45696e-017, -0.000332284, 0.00524963, 
 - Focal length: 70
 - Total focus distance: 555.327
 - Principal point: 7.56686e-008,-2.28898e-006
 - Optical axis dir: -0.000332284,0.00524963,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.00455639,5.36996e-005
 - Distort radial depth: -0.00557897,-1.50345e-005
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.879821
 - > Std. Dev.: 0.46129
 - > Min: 0.0136392
 - > Max: 6.64646
 - 
Iteration: 10
 - Parameters:
 - 0.174267, 0.251634, 70.0055, 1.44374e-005, 9.02534e-006, 0.0130703, 0.00276917, -1.7155e-024, -3.95115e-023, -0.00650842, 0.000971705, 0, 1.17437e-019, 1.45696e-017, -0.000923624, 0.00975354, 
 - Focal length: 70.0055
 - Total focus distance: 553.924
 - Principal point: 1.44374e-005,9.02534e-006
 - Optical axis dir: -0.000923624,0.00975354,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0130703,0.00276917
 - Distort radial depth: -0.00650842,0.000971705
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.778837
 - > Std. Dev.: 0.402167
 - > Min: 0.0176904
 - > Max: 6.41325
 - 
Iteration: 11
 - Parameters:
 - 0.173455, 0.252704, 70.069, 6.42231e-005, 0.000199055, -0.00455942, 0.0202606, -1.7155e-024, -3.95115e-023, -0.00750759, 0.00226733, 0, 1.17437e-019, 1.45696e-017, -0.00103698, 0.0100056, 
 - Focal length: 70.069
 - Total focus distance: 556.254
 - Principal point: 6.42231e-005,0.000199055
 - Optical axis dir: -0.00103698,0.0100056,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,-0.00455942,0.0202606
 - Distort radial depth: -0.00750759,0.00226733
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.764562
 - > Std. Dev.: 0.394758
 - > Min: 0.00815855
 - > Max: 5.75431
 - 
Iteration: 12
 - Parameters:
 - 0.172728, 0.253273, 70.4956, 2.95868e-005, 0.00326016, -0.0258468, 0.0422037, -1.7155e-024, -3.95115e-023, -0.00765956, 0.0024131, 0, 1.17437e-019, 1.45696e-017, -0.00104688, 0.0100637, 
 - Focal length: 70.4956
 - Total focus distance: 561.298
 - Principal point: 2.95868e-005,0.00326016
 - Optical axis dir: -0.00104688,0.0100637,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,-0.0258468,0.0422037
 - Distort radial depth: -0.00765956,0.0024131
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.758123
 - > Std. Dev.: 0.393694
 - > Min: 0.0168046
 - > Max: 5.76742
 - 
Iteration: 13
 - Parameters:
 - 0.172753, 0.255677, 71.4552, 0.00471641, 0.00846455, -0.0288094, 0.0454121, -1.7155e-024, -3.95115e-023, -0.00771708, 0.00243095, 0, 1.17437e-019, 1.45696e-017, -0.00106308, 0.0101682, 
 - Focal length: 71.4552
 - Total focus distance: 568.88
 - Principal point: 0.00471641,0.00846455
 - Optical axis dir: -0.00106308,0.0101682,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,-0.0288094,0.0454121
 - Distort radial depth: -0.00771708,0.00243095
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.752497
 - > Std. Dev.: 0.389558
 - > Min: 0.0188163
 - > Max: 5.81207
 - 
Iteration: 14
 - Parameters:
 - 0.173103, 0.260415, 73.3739, 0.0158354, 0.0201598, -0.0263878, 0.0431491, -1.7155e-024, -3.95115e-023, -0.00781217, 0.00246415, 0, 1.17437e-019, 1.45696e-017, -0.00108479, 0.0103787, 
 - Focal length: 73.3739
 - Total focus distance: 583.322
 - Principal point: 0.0158354,0.0201598
 - Optical axis dir: -0.00108479,0.0103787,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,-0.0263878,0.0431491
 - Distort radial depth: -0.00781217,0.00246415
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.742863
 - > Std. Dev.: 0.381839
 - > Min: 0.027512
 - > Max: 5.86161
 - 
Iteration: 15
 - Parameters:
 - 0.173815, 0.269302, 77.2002, 0.035023, 0.0596317, -0.0209037, 0.037983, -1.7155e-024, -3.95115e-023, -0.00798599, 0.00252439, 0, 1.17437e-019, 1.45696e-017, -0.00112493, 0.0107843, 
 - Focal length: 77.2002
 - Total focus distance: 611.97
 - Principal point: 0.035023,0.0596317
 - Optical axis dir: -0.00112493,0.0107843,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,-0.0209037,0.037983
 - Distort radial depth: -0.00798599,0.00252439
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.727743
 - > Std. Dev.: 0.370749
 - > Min: 0.0236728
 - > Max: 5.94646
 - 
Iteration: 16
 - Parameters:
 - 0.175096, 0.284332, 84.5683, 0.0406197, 0.353999, -0.0117201, 0.030166, -1.7155e-024, -3.95115e-023, -0.0082772, 0.00263057, 0, 1.17437e-019, 1.45696e-017, -0.0012194, 0.0113753, 
 - Focal length: 84.5683
 - Total focus distance: 666.927
 - Principal point: 0.0406197,0.353999
 - Optical axis dir: -0.0012194,0.0113753,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,-0.0117201,0.030166
 - Distort radial depth: -0.0082772,0.00263057
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.71192
 - > Std. Dev.: 0.361492
 - > Min: 0.0229012
 - > Max: 5.98191
 - 
Iteration: 17
 - Parameters:
 - 0.175547, 0.288215, 87.3654, -0.067629, 0.773183, -0.0071823, 0.027271, -1.7155e-024, -3.95115e-023, -0.00838332, 0.00269598, 0, 1.17437e-019, 1.45696e-017, -0.00122444, 0.0112586, 
 - Focal length: 87.3654
 - Total focus distance: 687.743
 - Principal point: -0.067629,0.773183
 - Optical axis dir: -0.00122444,0.0112586,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,-0.0071823,0.027271
 - Distort radial depth: -0.00838332,0.00269598
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.70628
 - > Std. Dev.: 0.363679
 - > Min: 0.0146006
 - > Max: 5.74608
 - 
Iteration: 18
 - Parameters:
 - 0.175924, 0.289869, 88.0957, -0.0799576, 0.962257, 0.00158541, 0.018762, -1.7155e-024, -3.95115e-023, -0.00844477, 0.00274214, 0, 1.17437e-019, 1.45696e-017, -0.00123774, 0.0111767, 
 - Focal length: 88.0957
 - Total focus distance: 692.45
 - Principal point: -0.0799576,0.962257
 - Optical axis dir: -0.00123774,0.0111767,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.00158541,0.018762
 - Distort radial depth: -0.00844477,0.00274214
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.704812
 - > Std. Dev.: 0.364312
 - > Min: 0.0176898
 - > Max: 5.61307
 - 
Iteration: 19
 - Parameters:
 - 0.176083, 0.290385, 88.351, -0.14823, 1.11852, 0.00547325, 0.0150988, -1.7155e-024, -3.95115e-023, -0.00843235, 0.00270204, 0, 1.17437e-019, 1.45696e-017, -0.00119356, 0.0110677, 
 - Focal length: 88.351
 - Total focus distance: 694.016
 - Principal point: -0.14823,1.11852
 - Optical axis dir: -0.00119356,0.0110677,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.00547325,0.0150988
 - Distort radial depth: -0.00843235,0.00270204
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.703894
 - > Std. Dev.: 0.365152
 - > Min: 0.0222901
 - > Max: 5.53417
 - 
Iteration: 20
 - Parameters:
 - 0.17623, 0.290949, 88.5564, -0.146599, 1.21953, 0.00921903, 0.0113412, -1.7155e-024, -3.95115e-023, -0.00843385, 0.00268731, 0, 1.17437e-019, 1.45696e-017, -0.0011959, 0.0109881, 
 - Focal length: 88.5564
 - Total focus distance: 695.223
 - Principal point: -0.146599,1.21953
 - Optical axis dir: -0.0011959,0.0109881,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.00921903,0.0113412
 - Distort radial depth: -0.00843385,0.00268731
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.703396
 - > Std. Dev.: 0.365678
 - > Min: 0.0286526
 - > Max: 5.49503
 - 
Iteration: 21
 - Parameters:
 - 0.17631, 0.291199, 88.6704, -0.169016, 1.30276, 0.0112237, 0.00941795, -1.7155e-024, -3.95115e-023, -0.00842043, 0.00265603, 0, 1.17437e-019, 1.45696e-017, -0.00117932, 0.010919, 
 - Focal length: 88.6704
 - Total focus distance: 695.896
 - Principal point: -0.169016,1.30276
 - Optical axis dir: -0.00117932,0.010919,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0112237,0.00941795
 - Distort radial depth: -0.00842043,0.00265603
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.703013
 - > Std. Dev.: 0.366195
 - > Min: 0.0301491
 - > Max: 5.46929
 - 
Iteration: 22
 - Parameters:
 - 0.176381, 0.291456, 88.7692, -0.16863, 1.36057, 0.0130002, 0.00765172, -1.7155e-024, -3.95115e-023, -0.008415, 0.00263902, 0, 1.17437e-019, 1.45696e-017, -0.00117979, 0.0108691, 
 - Focal length: 88.7692
 - Total focus distance: 696.477
 - Principal point: -0.16863,1.36057
 - Optical axis dir: -0.00117979,0.0108691,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0130002,0.00765172
 - Distort radial depth: -0.008415,0.00263902
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702764
 - > Std. Dev.: 0.366558
 - > Min: 0.0242638
 - > Max: 5.45549
 - 
Iteration: 23
 - Parameters:
 - 0.176425, 0.291598, 88.8316, -0.176262, 1.40776, 0.0141218, 0.006564, -1.7155e-024, -3.95115e-023, -0.00840657, 0.00261998, 0, 1.17437e-019, 1.45696e-017, -0.00117365, 0.0108273, 
 - Focal length: 88.8316
 - Total focus distance: 696.844
 - Principal point: -0.176262,1.40776
 - Optical axis dir: -0.00117365,0.0108273,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0141218,0.006564
 - Distort radial depth: -0.00840657,0.00261998
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702569
 - > Std. Dev.: 0.366867
 - > Min: 0.0197958
 - > Max: 5.44544
 - 
Iteration: 24
 - Parameters:
 - 0.176462, 0.291729, 88.8839, -0.176835, 1.44246, 0.0150617, 0.00563566, -1.7155e-024, -3.95115e-023, -0.0084016, 0.00260743, 0, 1.17437e-019, 1.45696e-017, -0.00117308, 0.010796, 
 - Focal length: 88.8839
 - Total focus distance: 697.152
 - Principal point: -0.176835,1.44246
 - Optical axis dir: -0.00117308,0.010796,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0150617,0.00563566
 - Distort radial depth: -0.0084016,0.00260743
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702429
 - > Std. Dev.: 0.367097
 - > Min: 0.0165227
 - > Max: 5.43948
 - 
Iteration: 25
 - Parameters:
 - 0.176488, 0.291813, 88.9205, -0.179664, 1.47043, 0.015722, 0.00499157, -1.7155e-024, -3.95115e-023, -0.00839648, 0.00259589, 0, 1.17437e-019, 1.45696e-017, -0.0011706, 0.0107703, 
 - Focal length: 88.9205
 - Total focus distance: 697.366
 - Principal point: -0.179664,1.47043
 - Optical axis dir: -0.0011706,0.0107703,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.015722,0.00499157
 - Distort radial depth: -0.00839648,0.00259589
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.70232
 - > Std. Dev.: 0.367284
 - > Min: 0.0141011
 - > Max: 5.43497
 - 
Iteration: 26
 - Parameters:
 - 0.176509, 0.291886, 88.9502, -0.180299, 1.49178, 0.0162578, 0.00446442, -1.7155e-024, -3.95115e-023, -0.00839291, 0.00258748, 0, 1.17437e-019, 1.45696e-017, -0.00116993, 0.0107505, 
 - Focal length: 88.9502
 - Total focus distance: 697.541
 - Principal point: -0.180299,1.49178
 - Optical axis dir: -0.00116993,0.0107505,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0162578,0.00446442
 - Distort radial depth: -0.00839291,0.00258748
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702237
 - > Std. Dev.: 0.367429
 - > Min: 0.0123821
 - > Max: 5.43202
 - 
Iteration: 27
 - Parameters:
 - 0.176525, 0.291937, 88.9723, -0.181473, 1.50886, 0.0166577, 0.00407329, -1.7155e-024, -3.95115e-023, -0.00838974, 0.00258035, 0, 1.17437e-019, 1.45696e-017, -0.0011688, 0.0107345, 
 - Focal length: 88.9723
 - Total focus distance: 697.67
 - Principal point: -0.181473,1.50886
 - Optical axis dir: -0.0011688,0.0107345,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0166577,0.00407329
 - Distort radial depth: -0.00838974,0.00258035
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702172
 - > Std. Dev.: 0.367545
 - > Min: 0.0111649
 - > Max: 5.42977
 - 
Iteration: 28
 - Parameters:
 - 0.176538, 0.29198, 88.99, -0.181938, 1.52219, 0.0169776, 0.00375916, -1.7155e-024, -3.95115e-023, -0.00838736, 0.00257488, 0, 1.17437e-019, 1.45696e-017, -0.00116829, 0.010722, 
 - Focal length: 88.99
 - Total focus distance: 697.774
 - Principal point: -0.181938,1.52219
 - Optical axis dir: -0.00116829,0.010722,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0169776,0.00375916
 - Distort radial depth: -0.00838736,0.00257488
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702122
 - > Std. Dev.: 0.367636
 - > Min: 0.0103369
 - > Max: 5.42819
 - 
Iteration: 29
 - Parameters:
 - 0.176548, 0.292012, 89.0036, -0.182488, 1.53282, 0.0172243, 0.00351765, -1.7155e-024, -3.95115e-023, -0.00838536, 0.00257041, 0, 1.17437e-019, 1.45696e-017, -0.00116772, 0.0107119, 
 - Focal length: 89.0036
 - Total focus distance: 697.854
 - Principal point: -0.182488,1.53282
 - Optical axis dir: -0.00116772,0.0107119,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0172243,0.00351765
 - Distort radial depth: -0.00838536,0.00257041
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702082
 - > Std. Dev.: 0.367709
 - > Min: 0.00977722
 - > Max: 5.42697
 - 
Iteration: 30
 - Parameters:
 - 0.176555, 0.292037, 89.0144, -0.182791, 1.54122, 0.0174207, 0.00332498, -1.7155e-024, -3.95115e-023, -0.00838381, 0.0025669, 0, 1.17437e-019, 1.45696e-017, -0.00116737, 0.0107039, 
 - Focal length: 89.0144
 - Total focus distance: 697.918
 - Principal point: -0.182791,1.54122
 - Optical axis dir: -0.00116737,0.0107039,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0174207,0.00332498
 - Distort radial depth: -0.00838381,0.0025669
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702051
 - > Std. Dev.: 0.367766
 - > Min: 0.0094102
 - > Max: 5.42607
 - 
Iteration: 31
 - Parameters:
 - 0.176561, 0.292057, 89.0229, -0.183078, 1.54791, 0.0175747, 0.00317409, -1.7155e-024, -3.95115e-023, -0.00838255, 0.00256406, 0, 1.17437e-019, 1.45696e-017, -0.00116705, 0.0106975, 
 - Focal length: 89.0229
 - Total focus distance: 697.968
 - Principal point: -0.183078,1.54791
 - Optical axis dir: -0.00116705,0.0106975,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0175747,0.00317409
 - Distort radial depth: -0.00838255,0.00256406
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702026
 - > Std. Dev.: 0.367812
 - > Min: 0.00917034
 - > Max: 5.42537
 - 
Iteration: 32
 - Parameters:
 - 0.176566, 0.292074, 89.0297, -0.183267, 1.55322, 0.0176974, 0.00305389, -1.7155e-024, -3.95115e-023, -0.00838155, 0.00256181, 0, 1.17437e-019, 1.45696e-017, -0.00116682, 0.0106924, 
 - Focal length: 89.0297
 - Total focus distance: 698.007
 - Principal point: -0.183267,1.55322
 - Optical axis dir: -0.00116682,0.0106924,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0176974,0.00305389
 - Distort radial depth: -0.00838155,0.00256181
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.702006
 - > Std. Dev.: 0.367849
 - > Min: 0.0090166
 - > Max: 5.42484
 - 
Iteration: 33
 - Parameters:
 - 0.17657, 0.292086, 89.035, -0.183429, 1.55747, 0.0177944, 0.00295885, -1.7155e-024, -3.95115e-023, -0.00838074, 0.00256001, 0, 1.17437e-019, 1.45696e-017, -0.00116663, 0.0106884, 
 - Focal length: 89.035
 - Total focus distance: 698.039
 - Principal point: -0.183429,1.55747
 - Optical axis dir: -0.00116663,0.0106884,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0177944,0.00295885
 - Distort radial depth: -0.00838074,0.00256001
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.701991
 - > Std. Dev.: 0.367878
 - > Min: 0.00891815
 - > Max: 5.42443
 - 
Iteration: 34
 - Parameters:
 - 0.176573, 0.292096, 89.0393, -0.183547, 1.56084, 0.0178717, 0.0028831, -1.7155e-024, -3.95115e-023, -0.0083801, 0.00255857, 0, 1.17437e-019, 1.45696e-017, -0.00116649, 0.0106851, 
 - Focal length: 89.0393
 - Total focus distance: 698.064
 - Principal point: -0.183547,1.56084
 - Optical axis dir: -0.00116649,0.0106851,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0178717,0.0028831
 - Distort radial depth: -0.0083801,0.00255857
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.701978
 - > Std. Dev.: 0.367902
 - > Min: 0.0088559
 - > Max: 5.42411
 - 
Iteration: 35
 - Parameters:
 - 0.176575, 0.292104, 89.0427, -0.183643, 1.56354, 0.0179331, 0.00282289, -1.7155e-024, -3.95115e-023, -0.00837958, 0.00255742, 0, 1.17437e-019, 1.45696e-017, -0.00116638, 0.0106825, 
 - Focal length: 89.0427
 - Total focus distance: 698.083
 - Principal point: -0.183643,1.56354
 - Optical axis dir: -0.00116638,0.0106825,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0179331,0.00282289
 - Distort radial depth: -0.00837958,0.00255742
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.701969
 - > Std. Dev.: 0.36792
 - > Min: 0.00881659
 - > Max: 5.42386
 - 
Iteration: 36
 - Parameters:
 - 0.176577, 0.292111, 89.0454, -0.183717, 1.5657, 0.0179821, 0.00277485, -1.7155e-024, -3.95115e-023, -0.00837917, 0.0025565, 0, 1.17437e-019, 1.45696e-017, -0.00116629, 0.0106805, 
 - Focal length: 89.0454
 - Total focus distance: 698.099
 - Principal point: -0.183717,1.5657
 - Optical axis dir: -0.00116629,0.0106805,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0179821,0.00277485
 - Distort radial depth: -0.00837917,0.0025565
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.701961
 - > Std. Dev.: 0.367935
 - > Min: 0.00879202
 - > Max: 5.42366
 - 
Iteration: 37
 - Parameters:
 - 0.176579, 0.292116, 89.0475, -0.183775, 1.56742, 0.0180212, 0.00273657, -1.7155e-024, -3.95115e-023, -0.00837884, 0.00255576, 0, 1.17437e-019, 1.45696e-017, -0.00116621, 0.0106788, 
 - Focal length: 89.0475
 - Total focus distance: 698.112
 - Principal point: -0.183775,1.56742
 - Optical axis dir: -0.00116621,0.0106788,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0180212,0.00273657
 - Distort radial depth: -0.00837884,0.00255576
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.701954
 - > Std. Dev.: 0.367947
 - > Min: 0.00877671
 - > Max: 5.4235
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.176579, 0.292116, 89.0475, -0.183775, 1.56742, 0.0180212, 0.00273657, -1.7155e-024, -3.95115e-023, -0.00837884, 0.00255576, 1.45696e-017, 1.17437e-019, 1.45696e-017, -0.00116621, 0.0106788, 
 - Focal length: 89.0475
 - Total focus distance: 698.112
 - Principal point: -0.183775,1.56742
 - Optical axis dir: -0.00116621,0.0106788,-1
 - Distort center: -1.7155e-024,-3.95115e-023
 - Distortion frame z-offset: 1.17437e-019
 - Distort radial: ,0.0180212,0.00273657
 - Distort radial depth: -0.00837884,0.00255576
 - Distort axial depth: 1.45696e-017
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.701954
 - > Std. Dev.: 0.367947
 - > Min: 0.00877671
 - > Max: 5.4235
 - 
The Calibration converged successfully.
Calibration converged.
Estimated camera format found
Planar model collection and camera format updated

Started Calibration:
- Started Calibration
Parameters to calibrate:
 - Focal length
 - Main lens optical axis
 - Focus plane radial distortion
 - Focus plane depth distortion
 - Focus plane depth distortion depth dependency
 - MLA to sensor distance
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 14.7792
 - > Std. Dev.: 17.4681
 - > Min: 0
 - > Max: 58.0892
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 14.7792
 - > Std. Dev.: 17.4681
 - > Min: 0
 - > Max: 58.0892
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.292221, 0.305447, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 70
 - Total focus distance: 400
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0,0
 - Distort radial depth: 0,0
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 14.7792
 - > Std. Dev.: 17.4681
 - > Min: 0
 - > Max: 58.0892
 - 
Iteration: 1
 - Parameters:
 - 0.095371, 0.129428, 63.0128, 0.00263742, -0.0510363, -0.0136481, 0.00389159, 0, 0, 0, 0.00810082, 0.00236189, 
 - Focal length: 63.0128
 - Total focus distance: 792.747
 - Principal point: 0,0
 - Optical axis dir: 0.00810082,0.00236189,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.00263742,-0.0510363
 - Distort radial depth: -0.0136481,0.00389159
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 27.1374
 - > Std. Dev.: 32.0867
 - > Min: 0
 - > Max: 103.917
 - 
Iteration: 2
 - Parameters:
 - 0.0959194, 0.133461, 68.53, 0.00127229, -0.0526408, -0.0133887, 0.00346819, 0, 0, 0, 0.00825386, 0.00252033, 
 - Focal length: 68.53
 - Total focus distance: 858.088
 - Principal point: 0,0
 - Optical axis dir: 0.00825386,0.00252033,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.00127229,-0.0526408
 - Distort radial depth: -0.0133887,0.00346819
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 27.3373
 - > Std. Dev.: 32.3346
 - > Min: 0
 - > Max: 104.593
 - 
Iteration: 3
 - Parameters:
 - 0.0939835, 0.127814, 69.8024, -0.0324238, -0.0215889, -0.0121912, 0.00178417, 0, 0, 0, 0.00824278, 0.00256631, 
 - Focal length: 69.8024
 - Total focus distance: 888.874
 - Principal point: 0,0
 - Optical axis dir: 0.00824278,0.00256631,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0324238,-0.0215889
 - Distort radial depth: -0.0121912,0.00178417
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 28.3759
 - > Std. Dev.: 33.5804
 - > Min: 0
 - > Max: 108.823
 - 
Iteration: 4
 - Parameters:
 - 0.0995377, 0.112806, 69.9998, -0.0223295, -0.000263023, -0.00630588, -4.02563e-005, 0, 0, 0, 0.00256604, 0.0011539, 
 - Focal length: 69.9998
 - Total focus distance: 850.216
 - Principal point: 0,0
 - Optical axis dir: 0.00256604,0.0011539,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0223295,-0.000263023
 - Distort radial depth: -0.00630588,-4.02563e-005
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 26.8513
 - > Std. Dev.: 31.9372
 - > Min: 0
 - > Max: 106.4
 - 
Iteration: 5
 - Parameters:
 - 0.10731, 0.272684, 70, 0.000286025, 1.06244e-006, -2.95879e-005, -2.10697e-007, 0, 0, 0, 8.06917e-006, 1.01985e-005, 
 - Focal length: 70
 - Total focus distance: 799.83
 - Principal point: 0,0
 - Optical axis dir: 8.06917e-006,1.01985e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000286025,1.06244e-006
 - Distort radial depth: -2.95879e-005,-2.10697e-007
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 23.952
 - > Std. Dev.: 28.0041
 - > Min: 0
 - > Max: 94.331
 - 
Iteration: 6
 - Parameters:
 - 0.242426, 0.304523, 70, 6.42771e-005, 3.08647e-007, 1.97455e-006, 8.84621e-009, 0, 0, 0, -3.05711e-007, 1.64911e-007, 
 - Focal length: 70
 - Total focus distance: 445.718
 - Principal point: 0,0
 - Optical axis dir: -3.05711e-007,1.64911e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,6.42771e-005,3.08647e-007
 - Distort radial depth: 1.97455e-006,8.84621e-009
 - Distort axial depth: 0
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 10.1628
 - > Std. Dev.: 11.9966
 - > Min: 0
 - > Max: 40.3816
 - 
Iteration: 7
 - Parameters:
 - 0.153188, 0.256091, 70, 0.000100286, -7.64535e-007, -0.000209853, -1.41549e-006, 0, 1.11355e-020, 4.71367e-018, 8.6091e-007, 3.29376e-005, 
 - Focal length: 70
 - Total focus distance: 607.677
 - Principal point: 0,0
 - Optical axis dir: 8.6091e-007,3.29376e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,0.000100286,-7.64535e-007
 - Distort radial depth: -0.000209853,-1.41549e-006
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 5.84122
 - > Std. Dev.: 6.8125
 - > Min: 0
 - > Max: 25.2601
 - 
Iteration: 8
 - Parameters:
 - 0.173333, 0.253241, 70, -0.000593961, -7.54201e-006, -0.0011592, -7.70774e-006, 0, 1.11355e-020, 4.71367e-018, -5.32438e-005, 0.000243135, 
 - Focal length: 70
 - Total focus distance: 555.98
 - Principal point: 0,0
 - Optical axis dir: -5.32438e-005,0.000243135,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,-0.000593961,-7.54201e-006
 - Distort radial depth: -0.0011592,-7.70774e-006
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 1.08642
 - > Std. Dev.: 1.29909
 - > Min: 0
 - > Max: 6.14342
 - 
Iteration: 9
 - Parameters:
 - 0.17535, 0.256852, 70, -0.00239022, -2.57566e-005, -0.00306135, -1.98151e-005, 0, 1.11355e-020, 4.71367e-018, -0.000146523, 0.000885705, 
 - Focal length: 70
 - Total focus distance: 551.476
 - Principal point: 0,0
 - Optical axis dir: -0.000146523,0.000885705,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,-0.00239022,-2.57566e-005
 - Distort radial depth: -0.00306135,-1.98151e-005
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.617765
 - > Std. Dev.: 0.771892
 - > Min: 0
 - > Max: 4.14989
 - 
Iteration: 10
 - Parameters:
 - 0.173757, 0.290004, 70, -0.00382641, -3.74792e-005, -0.00554885, -2.56246e-005, 0, 1.11355e-020, 4.71367e-018, -0.000215247, 0.00419873, 
 - Focal length: 70
 - Total focus distance: 555.025
 - Principal point: 0,0
 - Optical axis dir: -0.000215247,0.00419873,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,-0.00382641,-3.74792e-005
 - Distort radial depth: -0.00554885,-2.56246e-005
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.343169
 - > Std. Dev.: 0.433681
 - > Min: 0
 - > Max: 6.37471
 - 
Iteration: 11
 - Parameters:
 - 0.17398, 0.30661, 70.0028, 0.00543375, 0.000931663, -0.00662023, 0.000689921, 0, 1.11355e-020, 4.71367e-018, 6.79877e-005, 0.00883412, 
 - Focal length: 70.0028
 - Total focus distance: 554.545
 - Principal point: 0,0
 - Optical axis dir: 6.79877e-005,0.00883412,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,0.00543375,0.000931663
 - Distort radial depth: -0.00662023,0.000689921
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.216145
 - > Std. Dev.: 0.310824
 - > Min: 0
 - > Max: 6.6998
 - 
Iteration: 12
 - Parameters:
 - 0.173651, 0.307727, 70.0284, 0.000330132, 0.00675969, -0.00780419, 0.00236528, 0, 1.11355e-020, 4.71367e-018, -0.00024909, 0.00895456, 
 - Focal length: 70.0284
 - Total focus distance: 555.49
 - Principal point: 0,0
 - Optical axis dir: -0.00024909,0.00895456,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,0.000330132,0.00675969
 - Distort radial depth: -0.00780419,0.00236528
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.205689
 - > Std. Dev.: 0.287271
 - > Min: 0
 - > Max: 5.7417
 - 
Iteration: 13
 - Parameters:
 - 0.173149, 0.306642, 70.3454, -0.014676, 0.0228168, -0.00821553, 0.00295571, 0, 1.11355e-020, 4.71367e-018, -0.000546905, 0.00901852, 
 - Focal length: 70.3454
 - Total focus distance: 559.143
 - Principal point: 0,0
 - Optical axis dir: -0.000546905,0.00901852,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,-0.014676,0.0228168
 - Distort radial depth: -0.00821553,0.00295571
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.202885
 - > Std. Dev.: 0.280909
 - > Min: 0
 - > Max: 5.42679
 - 
Iteration: 14
 - Parameters:
 - 0.173213, 0.307775, 71.0663, -0.0165887, 0.0251502, -0.0082485, 0.00298281, 0, 1.11355e-020, 4.71367e-018, -0.000615971, 0.00913812, 
 - Focal length: 71.0663
 - Total focus distance: 564.726
 - Principal point: 0,0
 - Optical axis dir: -0.000615971,0.00913812,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,-0.0165887,0.0251502
 - Distort radial depth: -0.0082485,0.00298281
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.198371
 - > Std. Dev.: 0.276688
 - > Min: 0
 - > Max: 5.43389
 - 
Iteration: 15
 - Parameters:
 - 0.173574, 0.310963, 72.5086, -0.013305, 0.0222207, -0.00829659, 0.00300137, 0, 1.11355e-020, 4.71367e-018, -0.000655539, 0.00937435, 
 - Focal length: 72.5086
 - Total focus distance: 575.341
 - Principal point: 0,0
 - Optical axis dir: -0.000655539,0.00937435,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,-0.013305,0.0222207
 - Distort radial depth: -0.00829659,0.00300137
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.190099
 - > Std. Dev.: 0.269965
 - > Min: 0
 - > Max: 5.46098
 - 
Iteration: 16
 - Parameters:
 - 0.174301, 0.317125, 75.393, -0.00625927, 0.0157656, -0.00838553, 0.00303404, 0, 1.11355e-020, 4.71367e-018, -0.000717803, 0.00983719, 
 - Focal length: 75.393
 - Total focus distance: 596.473
 - Principal point: 0,0
 - Optical axis dir: -0.000717803,0.00983719,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,-0.00625927,0.0157656
 - Distort radial depth: -0.00838553,0.00303404
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.177331
 - > Std. Dev.: 0.261913
 - > Min: 0
 - > Max: 5.51703
 - 
Iteration: 17
 - Parameters:
 - 0.175075, 0.323491, 78.6849, 0.00118713, 0.00888909, -0.00847242, 0.00306243, 0, 1.11355e-020, 4.71367e-018, -0.000776806, 0.0103407, 
 - Focal length: 78.6849
 - Total focus distance: 620.58
 - Principal point: 0,0
 - Optical axis dir: -0.000776806,0.0103407,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,0.00118713,0.00888909
 - Distort radial depth: -0.00847242,0.00306243
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.170295
 - > Std. Dev.: 0.259931
 - > Min: 0
 - > Max: 5.58464
 - 
Iteration: 18
 - Parameters:
 - 0.175086, 0.323571, 78.8395, 0.00121398, 0.00889586, -0.00847106, 0.00305801, 0, 1.11355e-020, 4.71367e-018, -0.000780472, 0.0103564, 
 - Focal length: 78.8395
 - Total focus distance: 621.773
 - Principal point: 0,0
 - Optical axis dir: -0.000780472,0.0103564,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,0.00121398,0.00889586
 - Distort radial depth: -0.00847106,0.00305801
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.170054
 - > Std. Dev.: 0.260022
 - > Min: 0
 - > Max: 5.58936
 - 
Iteration: 19
 - Parameters:
 - 0.175086, 0.323574, 78.8418, 0.00121354, 0.00889775, -0.00847101, 0.00305781, 0, 1.11355e-020, 4.71367e-018, -0.000780673, 0.010357, 
 - Focal length: 78.8418
 - Total focus distance: 621.791
 - Principal point: 0,0
 - Optical axis dir: -0.000780673,0.010357,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,0.00121354,0.00889775
 - Distort radial depth: -0.00847101,0.00305781
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.170052
 - > Std. Dev.: 0.260024
 - > Min: 0
 - > Max: 5.5896
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.175086, 0.323574, 78.8418, 0.00121354, 0.00889775, -0.00847101, 0.00305781, 4.71367e-018, 1.11355e-020, 4.71367e-018, -0.000780673, 0.010357, 
 - Focal length: 78.8418
 - Total focus distance: 621.791
 - Principal point: 0,0
 - Optical axis dir: -0.000780673,0.010357,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.11355e-020
 - Distort radial: ,0.00121354,0.00889775
 - Distort radial depth: -0.00847101,0.00305781
 - Distort axial depth: 4.71367e-018
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.170052
 - > Std. Dev.: 0.260024
 - > Min: 0
 - > Max: 5.5896
 - 
The Calibration converged successfully.
Calibration converged.
Sequence of 9 target images saved