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 779 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
 - 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:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 10.0861
 - > Std. Dev.: 3.69756
 - > Min: 0.562103
 - > Max: 17.3966
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 10.0861
 - > Std. Dev.: 3.69756
 - > Min: 0.562103
 - > Max: 17.3966
 - 
Evaluated error function
Calibration initialization finished successfully.
Image Accepted.

Started Image Capturing of Image 2: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 778 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
 - 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:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.7523
 - > Std. Dev.: 5.22828
 - > Min: 0.665618
 - > Max: 23.1015
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.7523
 - > Std. Dev.: 5.22828
 - > Min: 0.665618
 - > Max: 23.1015
 - 
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 768 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
 - 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:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.5228
 - > Std. Dev.: 5.11061
 - > Min: 0.550424
 - > Max: 25.0656
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.5228
 - > Std. Dev.: 5.11061
 - > Min: 0.550424
 - > Max: 25.0656
 - 
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 779 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
 - 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:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.3251
 - > Std. Dev.: 4.95627
 - > Min: 0.459443
 - > Max: 26.047
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.3251
 - > Std. Dev.: 4.95627
 - > Min: 0.459443
 - > Max: 26.047
 - 
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 812 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
 - 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:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
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:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
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:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
Iteration: 1
 - Parameters:
 - 0.0559052, -0.0714644, 115.49, -0.0793704, 0.0813032, -0.00166247, -4.05123e-005, 0, 
 - Focal length: 115.49
 - Total focus distance: 2303.26
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0793704,0.0813032
 - Distort radial depth: -0.00166247,-4.05123e-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: 148.456
 - > Std. Dev.: 61.1594
 - > Min: 8.19019
 - > Max: 322.513
 - 
Iteration: 2
 - Parameters:
 - 0.0609786, -0.0659713, 119.995, -0.0465088, 0.0451731, -0.00174144, 7.92493e-005, 0, 
 - Focal length: 119.995
 - Total focus distance: 2215.12
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0465088,0.0451731
 - Distort radial depth: -0.00174144,7.92493e-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: 133.526
 - > Std. Dev.: 54.5728
 - > Min: 6.98214
 - > Max: 289.159
 - 
Iteration: 3
 - Parameters:
 - 0.28576, 0.274684, 120, 0.00161349, 8.33022e-006, 1.61073e-005, 7.37368e-008, 0, 
 - Focal length: 120
 - Total focus distance: 694.224
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.00161349,8.33022e-006
 - Distort radial depth: 1.61073e-005,7.37368e-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: 8.72205
 - > Std. Dev.: 3.74597
 - > Min: 0.309537
 - > Max: 20.5274
 - 
Iteration: 4
 - Parameters:
 - 0.360647, 0.322459, 120.021, -0.00729167, 0.000410164, -0.000624457, 0.000406584, 0, 
 - Focal length: 120.021
 - Total focus distance: 616.119
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.00729167,0.000410164
 - Distort radial depth: -0.000624457,0.000406584
 - 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: 1.85103
 - > Std. Dev.: 0.869463
 - > Min: 0.0337046
 - > Max: 4.8215
 - 
Iteration: 5
 - Parameters:
 - 0.386182, 0.240026, 120.081, -0.0165696, 0.00843228, -0.000843203, 0.000346304, 0, 
 - Focal length: 120.081
 - Total focus distance: 597.48
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0165696,0.00843228
 - Distort radial depth: -0.000843203,0.000346304
 - 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: 0.234887
 - > Std. Dev.: 0.145334
 - > Min: 0.0150316
 - > Max: 1.61576
 - 
Iteration: 6
 - Parameters:
 - 0.388635, 0.188727, 120.276, -0.0249882, 0.0174229, -0.000739944, 0.000216828, 0, 
 - Focal length: 120.276
 - Total focus distance: 596.779
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0249882,0.0174229
 - Distort radial depth: -0.000739944,0.000216828
 - 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: 0.150574
 - > Std. Dev.: 0.0982694
 - > Min: 0.00892899
 - > Max: 1.45163
 - 
Iteration: 7
 - Parameters:
 - 0.388917, 0.180557, 120.707, -0.0251605, 0.0180225, -0.00071359, 0.000201054, 0, 
 - Focal length: 120.707
 - Total focus distance: 598.724
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0251605,0.0180225
 - Distort radial depth: -0.00071359,0.000201054
 - 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: 0.149211
 - > Std. Dev.: 0.09719
 - > Min: 0.0130514
 - > Max: 1.43007
 - 
Iteration: 8
 - Parameters:
 - 0.389022, 0.180036, 121.502, -0.0247991, 0.0177021, -0.000711487, 0.000201365, 0, 
 - Focal length: 121.502
 - Total focus distance: 602.6
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0247991,0.0177021
 - Distort radial depth: -0.000711487,0.000201365
 - 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: 0.148332
 - > Std. Dev.: 0.0968997
 - > Min: 0.0140554
 - > Max: 1.42829
 - 
Iteration: 9
 - Parameters:
 - 0.389163, 0.180758, 122.97, -0.0242318, 0.0170931, -0.000713025, 0.000205556, 0, 
 - Focal length: 122.97
 - Total focus distance: 609.779
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0242318,0.0170931
 - Distort radial depth: -0.000713025,0.000205556
 - 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: 0.146822
 - > Std. Dev.: 0.0964039
 - > Min: 0.0134305
 - > Max: 1.42959
 - 
Iteration: 10
 - Parameters:
 - 0.389435, 0.182303, 125.904, -0.0231479, 0.0159167, -0.000716413, 0.000214035, 0, 
 - Focal length: 125.904
 - Total focus distance: 624.137
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0231479,0.0159167
 - Distort radial depth: -0.000716413,0.000214035
 - 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: 0.144087
 - > Std. Dev.: 0.0955983
 - > Min: 0.0109164
 - > Max: 1.43254
 - 
Iteration: 11
 - Parameters:
 - 0.389956, 0.18511, 131.772, -0.0211048, 0.0137036, -0.000722285, 0.000229834, 0, 
 - Focal length: 131.772
 - Total focus distance: 652.844
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0211048,0.0137036
 - Distort radial depth: -0.000722285,0.000229834
 - 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: 0.139668
 - > Std. Dev.: 0.0947003
 - > Min: 0.00942577
 - > Max: 1.43787
 - 
Iteration: 12
 - Parameters:
 - 0.390918, 0.189677, 143.509, -0.0174752, 0.00979188, -0.000730725, 0.000257095, 0, 
 - Focal length: 143.509
 - Total focus distance: 710.224
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0174752,0.00979188
 - Distort radial depth: -0.000730725,0.000257095
 - 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: 0.134569
 - > Std. Dev.: 0.0951201
 - > Min: 0.00607272
 - > Max: 1.4464
 - 
Iteration: 13
 - Parameters:
 - 0.391162, 0.190803, 147.78, -0.0165643, 0.00881348, -0.000732463, 0.000263409, 0, 
 - Focal length: 147.78
 - Total focus distance: 731.164
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0165643,0.00881348
 - Distort radial depth: -0.000732463,0.000263409
 - 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: 0.133796
 - > Std. Dev.: 0.0956719
 - > Min: 0.00677624
 - > Max: 1.44724
 - 
Iteration: 14
 - Parameters:
 - 0.391162, 0.190832, 147.893, -0.0165566, 0.00880404, -0.000732495, 0.000263279, 0, 
 - Focal length: 147.893
 - Total focus distance: 731.725
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0165566,0.00880404
 - Distort radial depth: -0.000732495,0.000263279
 - 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: 0.133785
 - > Std. Dev.: 0.0956859
 - > Min: 0.00680743
 - > Max: 1.44721
 - 
Iteration: 15
 - Parameters:
 - 0.391162, 0.190833, 147.894, -0.0165563, 0.00880361, -0.000732497, 0.000263277, 0, 
 - Focal length: 147.894
 - Total focus distance: 731.726
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0165563,0.00880361
 - Distort radial depth: -0.000732497,0.000263277
 - 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: 0.133785
 - > Std. Dev.: 0.0956861
 - > Min: 0.00680728
 - > Max: 1.44721
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.391162, 0.190833, 147.894, -0.0165563, 0.00880361, -0.000732497, 0.000263277, 0, 
 - Focal length: 147.894
 - Total focus distance: 731.726
 - Principal point: 0,0
 - Optical axis dir: 0,0,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0165563,0.00880361
 - Distort radial depth: -0.000732497,0.000263277
 - 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: 0.133785
 - > Std. Dev.: 0.0956861
 - > Min: 0.00680728
 - > Max: 1.44721
 - 
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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.2526
 - > Std. Dev.: 4.85672
 - > Min: 0.476981
 - > Max: 26.858
 - 
Iteration: 1
 - Parameters:
 - 0.0559385, -0.0714136, 115.848, -0.0793602, 0.0812892, -0.00165759, -5.17563e-005, 0, 0, 0, -0.00030938, 2.91113e-005, 
 - Focal length: 115.848
 - Total focus distance: 2309.17
 - Principal point: 0,0
 - Optical axis dir: -0.00030938,2.91113e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0793602,0.0812892
 - Distort radial depth: -0.00165759,-5.17563e-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: 148.422
 - > Std. Dev.: 61.1442
 - > Min: 8.23583
 - > Max: 322.858
 - 
Iteration: 2
 - Parameters:
 - 0.0613985, -0.0654344, 119.996, -0.0433667, 0.0416466, -0.00174339, 7.53566e-005, 0, 0, 0, -0.00034332, 3.70072e-005, 
 - Focal length: 119.996
 - Total focus distance: 2201.74
 - Principal point: 0,0
 - Optical axis dir: -0.00034332,3.70072e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0433667,0.0416466
 - Distort radial depth: -0.00174339,7.53566e-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: 132.37
 - > Std. Dev.: 54.0839
 - > Min: 6.9318
 - > Max: 287.135
 - 
Iteration: 3
 - Parameters:
 - 0.324611, 0.280329, 120, 0.00146769, 7.57785e-006, 1.51844e-005, 7.05751e-008, 0, 0, 0, 7.29252e-007, 2.58108e-006, 
 - Focal length: 120
 - Total focus distance: 648.627
 - Principal point: 0,0
 - Optical axis dir: 7.29252e-007,2.58108e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.00146769,7.57785e-006
 - Distort radial depth: 1.51844e-005,7.05751e-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: 4.81054
 - > Std. Dev.: 2.10102
 - > Min: 0.210819
 - > Max: 11.5035
 - 
Iteration: 4
 - Parameters:
 - 0.377517, 0.276317, 120.072, -0.011324, 0.00386945, -0.000688641, 0.000341749, 0, 1.93231e-014, 8.76395e-013, 0.000928943, 0.000917994, 
 - Focal length: 120.072
 - Total focus distance: 603.531
 - Principal point: 0,0
 - Optical axis dir: 0.000928943,0.000917994,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.011324,0.00386945
 - Distort radial depth: -0.000688641,0.000341749
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.725437
 - > Std. Dev.: 0.360498
 - > Min: 0.0496252
 - > Max: 2.21861
 - 
Iteration: 5
 - Parameters:
 - 0.388063, 0.206268, 120.22, -0.0226144, 0.0146365, -0.000772693, 0.000236107, 0, 1.93231e-014, 8.76395e-013, 0.0015262, 0.00143632, 
 - Focal length: 120.22
 - Total focus distance: 596.886
 - Principal point: 0,0
 - Optical axis dir: 0.0015262,0.00143632,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0226144,0.0146365
 - Distort radial depth: -0.000772693,0.000236107
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.156885
 - > Std. Dev.: 0.104128
 - > Min: 0.00510781
 - > Max: 1.50081
 - 
Iteration: 6
 - Parameters:
 - 0.388754, 0.185494, 120.589, -0.0250616, 0.0175172, -0.000726192, 0.00019937, 0, 1.93231e-014, 8.76395e-013, 0.000398602, 0.00130744, 
 - Focal length: 120.589
 - Total focus distance: 598.252
 - Principal point: 0,0
 - Optical axis dir: 0.000398602,0.00130744,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0250616,0.0175172
 - Distort radial depth: -0.000726192,0.00019937
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.148193
 - > Std. Dev.: 0.0988071
 - > Min: 0.00835727
 - > Max: 1.45245
 - 
Iteration: 7
 - Parameters:
 - 0.388903, 0.182848, 121.331, -0.0248402, 0.0174652, -0.000718029, 0.000195283, 0, 1.93231e-014, 8.76395e-013, -3.54877e-005, 0.00130509, 
 - Focal length: 121.331
 - Total focus distance: 601.831
 - Principal point: 0,0
 - Optical axis dir: -3.54877e-005,0.00130509,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0248402,0.0174652
 - Distort radial depth: -0.000718029,0.000195283
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.147007
 - > Std. Dev.: 0.0987365
 - > Min: 0.00720023
 - > Max: 1.44631
 - 
Iteration: 8
 - Parameters:
 - 0.38903, 0.183437, 122.71, -0.0243532, 0.0169361, -0.000719092, 0.000197458, 0, 1.93231e-014, 8.76395e-013, -0.000178582, 0.00146225, 
 - Focal length: 122.71
 - Total focus distance: 608.585
 - Principal point: 0,0
 - Optical axis dir: -0.000178582,0.00146225,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0243532,0.0169361
 - Distort radial depth: -0.000719092,0.000197458
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.145236
 - > Std. Dev.: 0.0985877
 - > Min: 0.00730426
 - > Max: 1.44898
 - 
Iteration: 9
 - Parameters:
 - 0.389261, 0.185298, 125.469, -0.0234186, 0.0158537, -0.000723415, 0.000203491, 0, 1.93231e-014, 8.76395e-013, -0.000398135, 0.0017608, 
 - Focal length: 125.469
 - Total focus distance: 622.104
 - Principal point: 0,0
 - Optical axis dir: -0.000398135,0.0017608,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0234186,0.0158537
 - Distort radial depth: -0.000723415,0.000203491
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.141943
 - > Std. Dev.: 0.0983743
 - > Min: 0.00786424
 - > Max: 1.4559
 - 
Iteration: 10
 - Parameters:
 - 0.389704, 0.188841, 130.987, -0.0216664, 0.0138163, -0.000731577, 0.000214906, 0, 1.93231e-014, 8.76395e-013, -0.000829435, 0.00233627, 
 - Focal length: 130.987
 - Total focus distance: 649.137
 - Principal point: 0,0
 - Optical axis dir: -0.000829435,0.00233627,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0216664,0.0138163
 - Distort radial depth: -0.000731577,0.000214906
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.136103
 - > Std. Dev.: 0.0985036
 - > Min: 0.0096766
 - > Max: 1.46925
 - 
Iteration: 11
 - Parameters:
 - 0.390523, 0.194922, 142.021, -0.0185922, 0.0102428, -0.000745111, 0.000234639, 0, 1.93231e-014, 8.76395e-013, -0.00169831, 0.00339429, 
 - Focal length: 142.021
 - Total focus distance: 703.176
 - Principal point: 0,0
 - Optical axis dir: -0.00169831,0.00339429,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0185922,0.0102428
 - Distort radial depth: -0.000745111,0.000234639
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.127139
 - > Std. Dev.: 0.100411
 - > Min: 0.00978351
 - > Max: 1.49323
 - 
Iteration: 12
 - Parameters:
 - 0.391491, 0.201396, 157.534, -0.0152552, 0.00637736, -0.00075867, 0.000255387, 0, 1.93231e-014, 8.76395e-013, -0.0028273, 0.00465991, 
 - Focal length: 157.534
 - Total focus distance: 779.134
 - Principal point: 0,0
 - Optical axis dir: -0.0028273,0.00465991,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0152552,0.00637736
 - Distort radial depth: -0.00075867,0.000255387
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.120051
 - > Std. Dev.: 0.104628
 - > Min: 0.00336169
 - > Max: 1.52004
 - 
Iteration: 13
 - Parameters:
 - 0.391472, 0.201614, 158.768, -0.0152906, 0.00644254, -0.000759046, 0.000254227, 0, 1.93231e-014, 8.76395e-013, -0.00269546, 0.00471871, 
 - Focal length: 158.768
 - Total focus distance: 785.257
 - Principal point: 0,0
 - Optical axis dir: -0.00269546,0.00471871,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0152906,0.00644254
 - Distort radial depth: -0.000759046,0.000254227
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.119949
 - > Std. Dev.: 0.104593
 - > Min: 0.00372951
 - > Max: 1.51867
 - 
Iteration: 14
 - Parameters:
 - 0.391473, 0.201613, 158.777, -0.0152861, 0.0064368, -0.000759058, 0.000254271, 0, 1.93231e-014, 8.76395e-013, -0.00269287, 0.00471096, 
 - Focal length: 158.777
 - Total focus distance: 785.299
 - Principal point: 0,0
 - Optical axis dir: -0.00269287,0.00471096,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0152861,0.0064368
 - Distort radial depth: -0.000759058,0.000254271
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.11996
 - > Std. Dev.: 0.10458
 - > Min: 0.00376309
 - > Max: 1.51859
 - 
Iteration: 15
 - Parameters:
 - 0.391473, 0.201614, 158.777, -0.0152859, 0.00643651, -0.00075906, 0.000254272, 0, 1.93231e-014, 8.76395e-013, -0.00269256, 0.00471096, 
 - Focal length: 158.777
 - Total focus distance: 785.3
 - Principal point: 0,0
 - Optical axis dir: -0.00269256,0.00471096,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0152859,0.00643651
 - Distort radial depth: -0.00075906,0.000254272
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.11996
 - > Std. Dev.: 0.10458
 - > Min: 0.00376423
 - > Max: 1.51859
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.391473, 0.201614, 158.777, -0.0152859, 0.00643651, -0.00075906, 0.000254272, 8.76395e-013, 1.93231e-014, 8.76395e-013, -0.00269256, 0.00471096, 
 - Focal length: 158.777
 - Total focus distance: 785.3
 - Principal point: 0,0
 - Optical axis dir: -0.00269256,0.00471096,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.93231e-014
 - Distort radial: ,-0.0152859,0.00643651
 - Distort radial depth: -0.00075906,0.000254272
 - Distort axial depth: 8.76395e-013
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.11996
 - > Std. Dev.: 0.10458
 - > Min: 0.00376423
 - > Max: 1.51859
 - 
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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 10.9879
 - > Std. Dev.: 5.13398
 - > Min: 0.225058
 - > Max: 28.131
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 10.9879
 - > Std. Dev.: 5.13398
 - > Min: 0.225058
 - > Max: 28.131
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 10.9879
 - > Std. Dev.: 5.13398
 - > Min: 0.225058
 - > Max: 28.131
 - 
Iteration: 1
 - Parameters:
 - 0.0565713, -0.0722485, 131.997, -0.0661598, 0.0621161, -0.00152286, -0.000460799, 0, 0, 0, -0.000158802, 8.22366e-005, 
 - Focal length: 131.997
 - Total focus distance: 2604.75
 - Principal point: 0,0
 - Optical axis dir: -0.000158802,8.22366e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0661598,0.0621161
 - Distort radial depth: -0.00152286,-0.000460799
 - 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: 138.115
 - > Std. Dev.: 76.7447
 - > Min: 9.53443
 - > Max: 403.67
 - 
Iteration: 2
 - Parameters:
 - 0.0552818, -0.0725885, 121.064, -0.0673335, 0.0641166, -0.00154547, -0.00044959, 0, 0, 0, -0.000114624, 9.51672e-005, 
 - Focal length: 121.064
 - Total focus distance: 2438.76
 - Principal point: 0,0
 - Optical axis dir: -0.000114624,9.51672e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0673335,0.0641166
 - Distort radial depth: -0.00154547,-0.00044959
 - 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: 140.437
 - > Std. Dev.: 78.3517
 - > Min: 9.81138
 - > Max: 412.253
 - 
Iteration: 3
 - Parameters:
 - 0.0617002, -0.0652639, 120.005, -0.0187549, 0.00917225, -0.00180915, -9.36704e-005, 0, 0, 0, -7.12377e-005, 9.91832e-005, 
 - Focal length: 120.005
 - Total focus distance: 2192.38
 - Principal point: 0,0
 - Optical axis dir: -7.12377e-005,9.91832e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0187549,0.00917225
 - Distort radial depth: -0.00180915,-9.36704e-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: 123.2
 - > Std. Dev.: 65.4838
 - > Min: 7.74581
 - > Max: 349.332
 - 
Iteration: 4
 - Parameters:
 - 0.629882, 0.302183, 120, 0.000433475, 2.35222e-006, 4.72346e-006, 2.31385e-008, 0, 0, 0, -1.42325e-007, 2.78605e-007, 
 - Focal length: 120
 - Total focus distance: 506.097
 - Principal point: 0,0
 - Optical axis dir: -1.42325e-007,2.78605e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000433475,2.35222e-006
 - Distort radial depth: 4.72346e-006,2.31385e-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: 8.71252
 - > Std. Dev.: 4.07138
 - > Min: 0.192052
 - > Max: 22.3051
 - 
Iteration: 5
 - Parameters:
 - 0.389647, 0.294006, 120, 0.00116777, 6.33e-006, 1.33618e-005, 6.38338e-008, 0, 2.69425e-019, -5.57086e-019, -6.42211e-007, 1.33536e-006, 
 - Focal length: 120
 - Total focus distance: 594.728
 - Principal point: 0,0
 - Optical axis dir: -6.42211e-007,1.33536e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,0.00116777,6.33e-006
 - Distort radial depth: 1.33618e-005,6.38338e-008
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.214704
 - > Std. Dev.: 0.241141
 - > Min: 0.00750016
 - > Max: 1.7489
 - 
Iteration: 6
 - Parameters:
 - 0.38959, 0.183742, 120.005, -0.00829461, 0.00169984, -0.000649536, 0.0001282, 0, 2.69425e-019, -5.57086e-019, 0.00303224, -0.00323206, 
 - Focal length: 120.005
 - Total focus distance: 594.793
 - Principal point: 0,0
 - Optical axis dir: 0.00303224,-0.00323206,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00829461,0.00169984
 - Distort radial depth: -0.000649536,0.0001282
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.117375
 - > Std. Dev.: 0.113875
 - > Min: 0.00305836
 - > Max: 1.39626
 - 
Iteration: 7
 - Parameters:
 - 0.389953, 0.14989, 120.038, -0.0151681, 0.00993896, -0.000635352, 0.000195776, 0, 2.69425e-019, -5.57086e-019, 0.00202508, -0.00858544, 
 - Focal length: 120.038
 - Total focus distance: 594.714
 - Principal point: 0,0
 - Optical axis dir: 0.00202508,-0.00858544,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.0151681,0.00993896
 - Distort radial depth: -0.000635352,0.000195776
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.113344
 - > Std. Dev.: 0.10703
 - > Min: 0.00870005
 - > Max: 1.26166
 - 
Iteration: 8
 - Parameters:
 - 0.389569, 0.142349, 120.239, -0.0226568, 0.018628, -0.000613583, 0.000177574, 0, 2.69425e-019, -5.57086e-019, 0.00163475, -0.0100513, 
 - Focal length: 120.239
 - Total focus distance: 595.964
 - Principal point: 0,0
 - Optical axis dir: 0.00163475,-0.0100513,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.0226568,0.018628
 - Distort radial depth: -0.000613583,0.000177574
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.113541
 - > Std. Dev.: 0.105944
 - > Min: 0.0112466
 - > Max: 1.23466
 - 
Iteration: 9
 - Parameters:
 - 0.389532, 0.141485, 120.677, -0.0237791, 0.0198902, -0.000609564, 0.000173756, 0, 2.69425e-019, -5.57086e-019, 0.0016081, -0.0102275, 
 - Focal length: 120.677
 - Total focus distance: 598.159
 - Principal point: 0,0
 - Optical axis dir: 0.0016081,-0.0102275,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.0237791,0.0198902
 - Distort radial depth: -0.000609564,0.000173756
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.113085
 - > Std. Dev.: 0.105618
 - > Min: 0.0119139
 - > Max: 1.23167
 - 
Iteration: 10
 - Parameters:
 - 0.389601, 0.141602, 121.525, -0.0235437, 0.0195461, -0.000609654, 0.000175821, 0, 2.69425e-019, -5.57086e-019, 0.00153924, -0.0102933, 
 - Focal length: 121.525
 - Total focus distance: 602.318
 - Principal point: 0,0
 - Optical axis dir: 0.00153924,-0.0102933,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.0235437,0.0195461
 - Distort radial depth: -0.000609654,0.000175821
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.112213
 - > Std. Dev.: 0.105028
 - > Min: 0.0119451
 - > Max: 1.23145
 - 
Iteration: 11
 - Parameters:
 - 0.38974, 0.142076, 123.126, -0.0229176, 0.018686, -0.000610737, 0.000180543, 0, 2.69425e-019, -5.57086e-019, 0.00141707, -0.0103638, 
 - Focal length: 123.126
 - Total focus distance: 610.158
 - Principal point: 0,0
 - Optical axis dir: 0.00141707,-0.0103638,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.0229176,0.018686
 - Distort radial depth: -0.000610737,0.000180543
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.1106
 - > Std. Dev.: 0.103999
 - > Min: 0.0105851
 - > Max: 1.23199
 - 
Iteration: 12
 - Parameters:
 - 0.390009, 0.142932, 126.328, -0.0217232, 0.0170387, -0.00061263, 0.000189587, 0, 2.69425e-019, -5.57086e-019, 0.0011618, -0.0105085, 
 - Focal length: 126.328
 - Total focus distance: 625.836
 - Principal point: 0,0
 - Optical axis dir: 0.0011618,-0.0105085,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.0217232,0.0170387
 - Distort radial depth: -0.00061263,0.000189587
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.107588
 - > Std. Dev.: 0.102161
 - > Min: 0.0115091
 - > Max: 1.23288
 - 
Iteration: 13
 - Parameters:
 - 0.390521, 0.14423, 132.733, -0.019529, 0.0139986, -0.000615299, 0.000206065, 0, 2.69425e-019, -5.57086e-019, 0.000636368, -0.0108403, 
 - Focal length: 132.733
 - Total focus distance: 657.186
 - Principal point: 0,0
 - Optical axis dir: 0.000636368,-0.0108403,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.019529,0.0139986
 - Distort radial depth: -0.000615299,0.000206065
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.102375
 - > Std. Dev.: 0.099276
 - > Min: 0.00562762
 - > Max: 1.23359
 - 
Iteration: 14
 - Parameters:
 - 0.391445, 0.145353, 145.541, -0.0158179, 0.00881225, -0.000616779, 0.000233335, 0, 2.69425e-019, -5.57086e-019, -0.000453708, -0.0116707, 
 - Focal length: 145.541
 - Total focus distance: 719.86
 - Principal point: 0,0
 - Optical axis dir: -0.000453708,-0.0116707,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.0158179,0.00881225
 - Distort radial depth: -0.000616779,0.000233335
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0949461
 - > Std. Dev.: 0.0959219
 - > Min: 0.00902853
 - > Max: 1.23135
 - 
Iteration: 15
 - Parameters:
 - 0.392827, 0.143179, 169.11, -0.0108305, 0.00176589, -0.000608983, 0.000266994, 0, 2.69425e-019, -5.57086e-019, -0.00245838, -0.0137676, 
 - Focal length: 169.11
 - Total focus distance: 835.145
 - Principal point: 0,0
 - Optical axis dir: -0.00245838,-0.0137676,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.0108305,0.00176589
 - Distort radial depth: -0.000608983,0.000266994
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0902312
 - > Std. Dev.: 0.0939115
 - > Min: 0.0091631
 - > Max: 1.21651
 - 
Iteration: 16
 - Parameters:
 - 0.392948, 0.136509, 174.596, -0.01019, 0.0011806, -0.000593787, 0.000259177, 0, 2.69425e-019, -5.57086e-019, -0.00252742, -0.0160047, 
 - Focal length: 174.596
 - Total focus distance: 862.121
 - Principal point: 0,0
 - Optical axis dir: -0.00252742,-0.0160047,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.01019,0.0011806
 - Distort radial depth: -0.000593787,0.000259177
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0899256
 - > Std. Dev.: 0.0929538
 - > Min: 0.00497365
 - > Max: 1.17895
 - 
Iteration: 17
 - Parameters:
 - 0.393027, 0.132238, 176.132, -0.00991785, 0.000919632, -0.000584263, 0.000254063, 0, 2.69425e-019, -5.57086e-019, -0.00264539, -0.0174791, 
 - Focal length: 176.132
 - Total focus distance: 869.63
 - Principal point: 0,0
 - Optical axis dir: -0.00264539,-0.0174791,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00991785,0.000919632
 - Distort radial depth: -0.000584263,0.000254063
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0904355
 - > Std. Dev.: 0.0923356
 - > Min: 0.00488956
 - > Max: 1.15851
 - 
Iteration: 18
 - Parameters:
 - 0.393076, 0.129905, 177.029, -0.00974565, 0.000742946, -0.000579061, 0.000251106, 0, 2.69425e-019, -5.57086e-019, -0.00271126, -0.0182925, 
 - Focal length: 177.029
 - Total focus distance: 874.014
 - Principal point: 0,0
 - Optical axis dir: -0.00271126,-0.0182925,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00974565,0.000742946
 - Distort radial depth: -0.000579061,0.000251106
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0907031
 - > Std. Dev.: 0.0920369
 - > Min: 0.00472055
 - > Max: 1.14754
 - 
Iteration: 19
 - Parameters:
 - 0.393103, 0.12858, 177.55, -0.00964654, 0.000640653, -0.000576101, 0.000249431, 0, 2.69425e-019, -5.57086e-019, -0.00274915, -0.0187552, 
 - Focal length: 177.55
 - Total focus distance: 876.559
 - Principal point: 0,0
 - Optical axis dir: -0.00274915,-0.0187552,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00964654,0.000640653
 - Distort radial depth: -0.000576101,0.000249431
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0908517
 - > Std. Dev.: 0.0918787
 - > Min: 0.00483725
 - > Max: 1.14134
 - 
Iteration: 20
 - Parameters:
 - 0.393119, 0.127815, 177.855, -0.00958882, 0.00058087, -0.000574391, 0.000248464, 0, 2.69425e-019, -5.57086e-019, -0.00277118, -0.0190226, 
 - Focal length: 177.855
 - Total focus distance: 878.047
 - Principal point: 0,0
 - Optical axis dir: -0.00277118,-0.0190226,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00958882,0.00058087
 - Distort radial depth: -0.000574391,0.000248464
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0909365
 - > Std. Dev.: 0.0917909
 - > Min: 0.00477598
 - > Max: 1.13776
 - 
Iteration: 21
 - Parameters:
 - 0.393129, 0.127369, 178.034, -0.00955499, 0.000545765, -0.000573395, 0.0002479, 0, 2.69425e-019, -5.57086e-019, -0.00278407, -0.0191786, 
 - Focal length: 178.034
 - Total focus distance: 878.922
 - Principal point: 0,0
 - Optical axis dir: -0.00278407,-0.0191786,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00955499,0.000545765
 - Distort radial depth: -0.000573395,0.0002479
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0909857
 - > Std. Dev.: 0.0917409
 - > Min: 0.00475135
 - > Max: 1.13568
 - 
Iteration: 22
 - Parameters:
 - 0.393134, 0.127108, 178.139, -0.00953516, 0.000525159, -0.00057281, 0.00024757, 0, 2.69425e-019, -5.57086e-019, -0.00279165, -0.01927, 
 - Focal length: 178.139
 - Total focus distance: 879.436
 - Principal point: 0,0
 - Optical axis dir: -0.00279165,-0.01927,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00953516,0.000525159
 - Distort radial depth: -0.00057281,0.00024757
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0910144
 - > Std. Dev.: 0.091712
 - > Min: 0.00474823
 - > Max: 1.13446
 - 
Iteration: 23
 - Parameters:
 - 0.393137, 0.126955, 178.201, -0.00952339, 0.000512921, -0.000572467, 0.000247376, 0, 2.69425e-019, -5.57086e-019, -0.00279611, -0.0193237, 
 - Focal length: 178.201
 - Total focus distance: 879.74
 - Principal point: 0,0
 - Optical axis dir: -0.00279611,-0.0193237,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00952339,0.000512921
 - Distort radial depth: -0.000572467,0.000247376
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0910312
 - > Std. Dev.: 0.0916951
 - > Min: 0.00475038
 - > Max: 1.13375
 - 
Iteration: 24
 - Parameters:
 - 0.393139, 0.126864, 178.238, -0.00951649, 0.000505744, -0.000572264, 0.000247262, 0, 2.69425e-019, -5.57086e-019, -0.00279874, -0.0193554, 
 - Focal length: 178.238
 - Total focus distance: 879.919
 - Principal point: 0,0
 - Optical axis dir: -0.00279874,-0.0193554,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00951649,0.000505744
 - Distort radial depth: -0.000572264,0.000247262
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0910411
 - > Std. Dev.: 0.0916852
 - > Min: 0.00475305
 - > Max: 1.13332
 - 
Iteration: 25
 - Parameters:
 - 0.39314, 0.126811, 178.259, -0.00951244, 0.000501533, -0.000572145, 0.000247194, 0, 2.69425e-019, -5.57086e-019, -0.00280029, -0.0193741, 
 - Focal length: 178.259
 - Total focus distance: 880.024
 - Principal point: 0,0
 - Optical axis dir: -0.00280029,-0.0193741,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00951244,0.000501533
 - Distort radial depth: -0.000572145,0.000247194
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0910469
 - > Std. Dev.: 0.0916794
 - > Min: 0.00475511
 - > Max: 1.13308
 - 
Iteration: 26
 - Parameters:
 - 0.393141, 0.12678, 178.272, -0.00951004, 0.00049903, -0.000572074, 0.000247154, 0, 2.69425e-019, -5.57086e-019, -0.0028012, -0.0193851, 
 - Focal length: 178.272
 - Total focus distance: 880.087
 - Principal point: 0,0
 - Optical axis dir: -0.0028012,-0.0193851,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00951004,0.00049903
 - Distort radial depth: -0.000572074,0.000247154
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0910504
 - > Std. Dev.: 0.091676
 - > Min: 0.00475649
 - > Max: 1.13293
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.393141, 0.12678, 178.272, -0.00951004, 0.00049903, -0.000572074, 0.000247154, -5.57086e-019, 2.69425e-019, -5.57086e-019, -0.0028012, -0.0193851, 
 - Focal length: 178.272
 - Total focus distance: 880.087
 - Principal point: 0,0
 - Optical axis dir: -0.0028012,-0.0193851,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 2.69425e-019
 - Distort radial: ,-0.00951004,0.00049903
 - Distort radial depth: -0.000572074,0.000247154
 - Distort axial depth: -5.57086e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0910504
 - > Std. Dev.: 0.091676
 - > Min: 0.00475649
 - > Max: 1.13293
 - 
The Calibration converged successfully.
Calibration converged.

Entered image capturing page.
- Enabled data output.
- Writing files to: C:\Users\proberts\Pictures\Raytrix\Export\MetricCalibration-Canon-200-fl-49-cm-range\\20191115_102930

Started Image Capturing of Image 6: 
Image point pitch: 2
Analyzing image...
Looking for calibration target points...
Found 768 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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 10.8203
 - > Std. Dev.: 5.89264
 - > Min: 0.458465
 - > Max: 29.5908
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 10.8203
 - > Std. Dev.: 5.89264
 - > Min: 0.458465
 - > Max: 29.5908
 - 
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 771 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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.3264
 - > Std. Dev.: 5.22175
 - > Min: 0.558665
 - > Max: 27.2866
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.3264
 - > Std. Dev.: 5.22175
 - > Min: 0.558665
 - > Max: 27.2866
 - 
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 794 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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.9752
 - > Std. Dev.: 5.75673
 - > Min: 0.501562
 - > Max: 31.5344
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.9752
 - > Std. Dev.: 5.75673
 - > Min: 0.501562
 - > Max: 31.5344
 - 
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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.9752
 - > Std. Dev.: 5.75673
 - > Min: 0.501562
 - > Max: 31.5344
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.9752
 - > Std. Dev.: 5.75673
 - > Min: 0.501562
 - > Max: 31.5344
 - 
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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.9752
 - > Std. Dev.: 5.75673
 - > Min: 0.501562
 - > Max: 31.5344
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.9752
 - > Std. Dev.: 5.75673
 - > Min: 0.501562
 - > Max: 31.5344
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.9752
 - > Std. Dev.: 5.75673
 - > Min: 0.501562
 - > Max: 31.5344
 - 
Iteration: 1
 - Parameters:
 - 0.0734375, -0.0403495, 107.405, 0.098642, -0.156504, -0.000982494, -0.000232372, 0, 0, 0, -0.000984162, -0.000137464, 
 - Focal length: 107.405
 - Total focus distance: 1685.24
 - Principal point: 0,0
 - Optical axis dir: -0.000984162,-0.000137464,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.098642,-0.156504
 - Distort radial depth: -0.000982494,-0.000232372
 - 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: 109.148
 - > Std. Dev.: 53.3867
 - > Min: 3.54573
 - > Max: 276.439
 - 
Iteration: 2
 - Parameters:
 - 0.0696269, -0.0443005, 119.749, 0.0671708, -0.123787, -0.000850635, -0.000373315, 0, 0, 0, -0.00109188, -0.000123131, 
 - Focal length: 119.749
 - Total focus distance: 1967.71
 - Principal point: 0,0
 - Optical axis dir: -0.00109188,-0.000123131,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.0671708,-0.123787
 - Distort radial depth: -0.000850635,-0.000373315
 - 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: 116.843
 - > Std. Dev.: 57.4128
 - > Min: 3.66713
 - > Max: 295.595
 - 
Iteration: 3
 - Parameters:
 - 0.0554919, -0.0588216, 119.994, -0.0352786, -0.00863164, -0.000986067, -0.000121432, 0, 0, 0, -0.00119356, -0.000108576, 
 - Focal length: 119.994
 - Total focus distance: 2409.02
 - Principal point: 0,0
 - Optical axis dir: -0.00119356,-0.000108576,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0352786,-0.00863164
 - Distort radial depth: -0.000986067,-0.000121432
 - 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: 152.21
 - > Std. Dev.: 77.1444
 - > Min: 3.76943
 - > Max: 387.032
 - 
Iteration: 4
 - Parameters:
 - 0.630024, 0.303028, 120, 0.000409118, 2.1327e-006, 4.76734e-006, 2.3685e-008, 0, 0, 0, -4.38019e-008, 3.65036e-007, 
 - Focal length: 120
 - Total focus distance: 506.071
 - Principal point: 0,0
 - Optical axis dir: -4.38019e-008,3.65036e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000409118,2.1327e-006
 - Distort radial depth: 4.76734e-006,2.3685e-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: 9.48731
 - > Std. Dev.: 4.55878
 - > Min: 0.395069
 - > Max: 24.931
 - 
Iteration: 5
 - Parameters:
 - 0.39006, 0.29709, 120, 0.00109972, 5.72415e-006, 1.3686e-005, 6.68577e-008, 0, -7.61084e-022, -4.0475e-019, -3.31755e-007, 1.35698e-006, 
 - Focal length: 120
 - Total focus distance: 594.452
 - Principal point: 0,0
 - Optical axis dir: -3.31755e-007,1.35698e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,0.00109972,5.72415e-006
 - Distort radial depth: 1.3686e-005,6.68577e-008
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.302461
 - > Std. Dev.: 0.234021
 - > Min: 0.0236395
 - > Max: 1.72927
 - 
Iteration: 6
 - Parameters:
 - 0.389394, 0.263732, 120, -0.0110806, -7.15399e-005, -0.000469211, 2.94597e-006, 0, -7.61084e-022, -4.0475e-019, -1.12359e-005, 0.00464223, 
 - Focal length: 120
 - Total focus distance: 594.899
 - Principal point: 0,0
 - Optical axis dir: -1.12359e-005,0.00464223,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0110806,-7.15399e-005
 - Distort radial depth: -0.000469211,2.94597e-006
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.262601
 - > Std. Dev.: 0.199592
 - > Min: 0.0156393
 - > Max: 1.68912
 - 
Iteration: 7
 - Parameters:
 - 0.389394, 0.275623, 120.005, -0.0117242, 0.00167253, -0.000581463, 6.04043e-005, 0, -7.61084e-022, -4.0475e-019, 0.00137632, 0.0143833, 
 - Focal length: 120.005
 - Total focus distance: 594.925
 - Principal point: 0,0
 - Optical axis dir: 0.00137632,0.0143833,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0117242,0.00167253
 - Distort radial depth: -0.000581463,6.04043e-005
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.252864
 - > Std. Dev.: 0.186225
 - > Min: 0.00609181
 - > Max: 1.7911
 - 
Iteration: 8
 - Parameters:
 - 0.388334, 0.275781, 120.12, -0.0262488, 0.0184933, -0.000633717, 0.000112323, 0, -7.61084e-022, -4.0475e-019, 0.000762275, 0.0145691, 
 - Focal length: 120.12
 - Total focus distance: 596.206
 - Principal point: 0,0
 - Optical axis dir: 0.000762275,0.0145691,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0262488,0.0184933
 - Distort radial depth: -0.000633717,0.000112323
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.251544
 - > Std. Dev.: 0.186344
 - > Min: 0.00769861
 - > Max: 1.79962
 - 
Iteration: 9
 - Parameters:
 - 0.387759, 0.275572, 120.531, -0.0349947, 0.0285626, -0.000624253, 9.98666e-005, 0, -7.61084e-022, -4.0475e-019, 0.000509572, 0.0147464, 
 - Focal length: 120.531
 - Total focus distance: 598.641
 - Principal point: 0,0
 - Optical axis dir: 0.000509572,0.0147464,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0349947,0.0285626
 - Distort radial depth: -0.000624253,9.98666e-005
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.251071
 - > Std. Dev.: 0.185577
 - > Min: 0.00676665
 - > Max: 1.8045
 - 
Iteration: 10
 - Parameters:
 - 0.387735, 0.276355, 121.334, -0.0360476, 0.0297335, -0.000623505, 9.89284e-005, 0, -7.61084e-022, -4.0475e-019, 0.000401852, 0.0149089, 
 - Focal length: 121.334
 - Total focus distance: 602.642
 - Principal point: 0,0
 - Optical axis dir: 0.000401852,0.0149089,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0360476,0.0297335
 - Distort radial depth: -0.000623505,9.89284e-005
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.250024
 - > Std. Dev.: 0.184801
 - > Min: 0.00798829
 - > Max: 1.80795
 - 
Iteration: 11
 - Parameters:
 - 0.387892, 0.27801, 122.866, -0.0350543, 0.0284684, -0.000626104, 0.000103458, 0, -7.61084e-022, -4.0475e-019, 0.000305747, 0.015181, 
 - Focal length: 122.866
 - Total focus distance: 610.144
 - Principal point: 0,0
 - Optical axis dir: 0.000305747,0.015181,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0350543,0.0284684
 - Distort radial depth: -0.000626104,0.000103458
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.248048
 - > Std. Dev.: 0.183447
 - > Min: 0.00953159
 - > Max: 1.81277
 - 
Iteration: 12
 - Parameters:
 - 0.388195, 0.280973, 125.678, -0.0329675, 0.0258349, -0.00063104, 0.000112124, 0, -7.61084e-022, -4.0475e-019, 0.000147736, 0.0156655, 
 - Focal length: 125.678
 - Total focus distance: 623.891
 - Principal point: 0,0
 - Optical axis dir: 0.000147736,0.0156655,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0329675,0.0258349
 - Distort radial depth: -0.00063104,0.000112124
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.244717
 - > Std. Dev.: 0.181037
 - > Min: 0.00611725
 - > Max: 1.82115
 - 
Iteration: 13
 - Parameters:
 - 0.388777, 0.28643, 131.301, -0.0289684, 0.0207665, -0.000639637, 0.000127909, 0, -7.61084e-022, -4.0475e-019, -0.000188773, 0.0166002, 
 - Focal length: 131.301
 - Total focus distance: 651.376
 - Principal point: 0,0
 - Optical axis dir: -0.000188773,0.0166002,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0289684,0.0207665
 - Distort radial depth: -0.000639637,0.000127909
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.239111
 - > Std. Dev.: 0.176515
 - > Min: 0.0121095
 - > Max: 1.83676
 - 
Iteration: 14
 - Parameters:
 - 0.38985, 0.295943, 142.547, -0.0216644, 0.0114657, -0.000653373, 0.000154589, 0, -7.61084e-022, -4.0475e-019, -0.000894587, 0.0183469, 
 - Focal length: 142.547
 - Total focus distance: 706.313
 - Principal point: 0,0
 - Optical axis dir: -0.000894587,0.0183469,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0216644,0.0114657
 - Distort radial depth: -0.000653373,0.000154589
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.23139
 - > Std. Dev.: 0.168807
 - > Min: 0.00891911
 - > Max: 1.86477
 - 
Iteration: 15
 - Parameters:
 - 0.391672, 0.310516, 165.04, -0.00946967, -0.00421378, -0.000670305, 0.000192167, 0, -7.61084e-022, -4.0475e-019, -0.00235202, 0.0213924, 
 - Focal length: 165.04
 - Total focus distance: 816.096
 - Principal point: 0,0
 - Optical axis dir: -0.00235202,0.0213924,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.00946967,-0.00421378
 - Distort radial depth: -0.000670305,0.000192167
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.224807
 - > Std. Dev.: 0.159673
 - > Min: 0.00970586
 - > Max: 1.91108
 - 
Iteration: 16
 - Parameters:
 - 0.392548, 0.317102, 182.03, -0.0036858, -0.0116763, -0.000675446, 0.000201907, 0, -7.61084e-022, -4.0475e-019, -0.00312118, 0.0230078, 
 - Focal length: 182.03
 - Total focus distance: 899.228
 - Principal point: 0,0
 - Optical axis dir: -0.00312118,0.0230078,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0036858,-0.0116763
 - Distort radial depth: -0.000675446,0.000201907
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.222354
 - > Std. Dev.: 0.159181
 - > Min: 0.00915475
 - > Max: 1.92816
 - 
Iteration: 17
 - Parameters:
 - 0.392542, 0.317259, 183.643, -0.00370614, -0.0116363, -0.000675258, 0.000198034, 0, -7.61084e-022, -4.0475e-019, -0.00303442, 0.0230597, 
 - Focal length: 183.643
 - Total focus distance: 907.203
 - Principal point: 0,0
 - Optical axis dir: -0.00303442,0.0230597,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.00370614,-0.0116363
 - Distort radial depth: -0.000675258,0.000198034
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.221806
 - > Std. Dev.: 0.159837
 - > Min: 0.0105497
 - > Max: 1.92656
 - 
Iteration: 18
 - Parameters:
 - 0.392544, 0.317288, 183.661, -0.00366428, -0.011688, -0.000675202, 0.00019772, 0, -7.61084e-022, -4.0475e-019, -0.00301267, 0.023066, 
 - Focal length: 183.661
 - Total focus distance: 907.29
 - Principal point: 0,0
 - Optical axis dir: -0.00301267,0.023066,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.00366428,-0.011688
 - Distort radial depth: -0.000675202,0.00019772
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.221816
 - > Std. Dev.: 0.159823
 - > Min: 0.0105909
 - > Max: 1.92661
 - 
Iteration: 19
 - Parameters:
 - 0.392545, 0.317293, 183.663, -0.0036581, -0.0116964, -0.00067521, 0.000197727, 0, -7.61084e-022, -4.0475e-019, -0.00301071, 0.0230657, 
 - Focal length: 183.663
 - Total focus distance: 907.299
 - Principal point: 0,0
 - Optical axis dir: -0.00301071,0.0230657,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0036581,-0.0116964
 - Distort radial depth: -0.00067521,0.000197727
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.221818
 - > Std. Dev.: 0.159821
 - > Min: 0.010596
 - > Max: 1.92661
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.392545, 0.317293, 183.663, -0.0036581, -0.0116964, -0.00067521, 0.000197727, -4.0475e-019, -7.61084e-022, -4.0475e-019, -0.00301071, 0.0230657, 
 - Focal length: 183.663
 - Total focus distance: 907.299
 - Principal point: 0,0
 - Optical axis dir: -0.00301071,0.0230657,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.61084e-022
 - Distort radial: ,-0.0036581,-0.0116964
 - Distort radial depth: -0.00067521,0.000197727
 - Distort axial depth: -4.0475e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.221818
 - > Std. Dev.: 0.159821
 - > Min: 0.010596
 - > Max: 1.92661
 - 
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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 9.7646
 - > Std. Dev.: 5.66641
 - > Min: 0.445291
 - > Max: 30.6313
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 9.7646
 - > Std. Dev.: 5.66641
 - > Min: 0.445291
 - > Max: 30.6313
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 9.7646
 - > Std. Dev.: 5.66641
 - > Min: 0.445291
 - > Max: 30.6313
 - 
Iteration: 1
 - Parameters:
 - 0.0607057, -0.0499244, 107.44, -0.0257465, -0.008477, -0.00237573, 0.000853649, 0, 0, 0, -0.000166256, -0.000139975, 
 - Focal length: 107.44
 - Total focus distance: 1991.25
 - Principal point: 0,0
 - Optical axis dir: -0.000166256,-0.000139975,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0257465,-0.008477
 - Distort radial depth: -0.00237573,0.000853649
 - 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: 104.664
 - > Std. Dev.: 61.4957
 - > Min: 5.61676
 - > Max: 330.514
 - 
Iteration: 2
 - Parameters:
 - 0.0617214, -0.0475057, 118.811, -0.0230565, -0.0125738, -0.00238042, 0.000839439, 0, 0, 0, -0.000163314, -0.000191503, 
 - Focal length: 118.811
 - Total focus distance: 2169.91
 - Principal point: 0,0
 - Optical axis dir: -0.000163314,-0.000191503,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0230565,-0.0125738
 - Distort radial depth: -0.00238042,0.000839439
 - 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: 103.698
 - > Std. Dev.: 60.8979
 - > Min: 5.46294
 - > Max: 327.701
 - 
Iteration: 3
 - Parameters:
 - 0.0610282, -0.0480546, 119.962, -0.0290147, -0.00568892, -0.00219474, 0.000569242, 0, 0, 0, -0.000170263, -0.000196283, 
 - Focal length: 119.962
 - Total focus distance: 2212.93
 - Principal point: 0,0
 - Optical axis dir: -0.000170263,-0.000196283,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0290147,-0.00568892
 - Distort radial depth: -0.00219474,0.000569242
 - 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: 105.036
 - > Std. Dev.: 61.7033
 - > Min: 5.54749
 - > Max: 332.387
 - 
Iteration: 4
 - Parameters:
 - 0.630091, 0.303114, 120, 0.000412927, 2.15786e-006, 5.13182e-006, 2.65453e-008, 0, 0, 0, -1.30212e-007, 3.73779e-007, 
 - Focal length: 120
 - Total focus distance: 506.059
 - Principal point: 0,0
 - Optical axis dir: -1.30212e-007,3.73779e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000412927,2.15786e-006
 - Distort radial depth: 5.13182e-006,2.65453e-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: 7.72945
 - > Std. Dev.: 4.48275
 - > Min: 0.36729
 - > Max: 24.1987
 - 
Iteration: 5
 - Parameters:
 - 0.390247, 0.298034, 120, 0.00110774, 5.78659e-006, 1.4617e-005, 7.44124e-008, 0, -5.80349e-023, -4.10418e-019, -5.15753e-007, 1.19548e-006, 
 - Focal length: 120
 - Total focus distance: 594.327
 - Principal point: 0,0
 - Optical axis dir: -5.15753e-007,1.19548e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,0.00110774,5.78659e-006
 - Distort radial depth: 1.4617e-005,7.44124e-008
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.18577
 - > Std. Dev.: 0.209569
 - > Min: 0.0254145
 - > Max: 1.26138
 - 
Iteration: 6
 - Parameters:
 - 0.389426, 0.244679, 120, -0.0116834, -4.22743e-005, -0.000767394, 1.01909e-005, 0, -5.80349e-023, -4.10418e-019, 0.000558969, 0.00458356, 
 - Focal length: 120
 - Total focus distance: 594.878
 - Principal point: 0,0
 - Optical axis dir: 0.000558969,0.00458356,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0116834,-4.22743e-005
 - Distort radial depth: -0.000767394,1.01909e-005
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.160807
 - > Std. Dev.: 0.171789
 - > Min: 0.0155908
 - > Max: 1.02377
 - 
Iteration: 7
 - Parameters:
 - 0.389635, 0.245404, 120.002, -0.0122031, 0.000277831, -0.000828527, 9.53342e-005, 0, -5.80349e-023, -4.10418e-019, 0.000920398, 0.014353, 
 - Focal length: 120.002
 - Total focus distance: 594.744
 - Principal point: 0,0
 - Optical axis dir: 0.000920398,0.014353,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0122031,0.000277831
 - Distort radial depth: -0.000828527,9.53342e-005
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.15185
 - > Std. Dev.: 0.162231
 - > Min: 0.00586486
 - > Max: 0.946508
 - 
Iteration: 8
 - Parameters:
 - 0.389014, 0.255244, 120.198, -0.0187127, 0.00797975, -0.00100535, 0.00030499, 0, -5.80349e-023, -4.10418e-019, -0.000806497, 0.0166074, 
 - Focal length: 120.198
 - Total focus distance: 596.135
 - Principal point: 0,0
 - Optical axis dir: -0.000806497,0.0166074,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0187127,0.00797975
 - Distort radial depth: -0.00100535,0.00030499
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.150279
 - > Std. Dev.: 0.162256
 - > Min: 0.0127962
 - > Max: 0.972946
 - 
Iteration: 9
 - Parameters:
 - 0.388838, 0.258938, 120.6, -0.0206913, 0.010257, -0.001021, 0.000313895, 0, -5.80349e-023, -4.10418e-019, -0.00124722, 0.0166054, 
 - Focal length: 120.6
 - Total focus distance: 598.248
 - Principal point: 0,0
 - Optical axis dir: -0.00124722,0.0166054,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0206913,0.010257
 - Distort radial depth: -0.001021,0.000313895
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.150325
 - > Std. Dev.: 0.161686
 - > Min: 0.0110802
 - > Max: 0.969015
 - 
Iteration: 10
 - Parameters:
 - 0.388853, 0.261196, 121.401, -0.020788, 0.0103986, -0.00102692, 0.000315364, 0, -5.80349e-023, -4.10418e-019, -0.00133509, 0.016674, 
 - Focal length: 121.401
 - Total focus distance: 602.21
 - Principal point: 0,0
 - Optical axis dir: -0.00133509,0.016674,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.020788,0.0103986
 - Distort radial depth: -0.00102692,0.000315364
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.150225
 - > Std. Dev.: 0.160808
 - > Min: 0.0115574
 - > Max: 0.965422
 - 
Iteration: 11
 - Parameters:
 - 0.388927, 0.26469, 122.966, -0.0204917, 0.0100863, -0.00103641, 0.000316978, 0, -5.80349e-023, -4.10418e-019, -0.00142826, 0.016715, 
 - Focal length: 122.966
 - Total focus distance: 609.925
 - Principal point: 0,0
 - Optical axis dir: -0.00142826,0.016715,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0204917,0.0100863
 - Distort radial depth: -0.00103641,0.000316978
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.149896
 - > Std. Dev.: 0.159242
 - > Min: 0.0127705
 - > Max: 0.957009
 - 
Iteration: 12
 - Parameters:
 - 0.389076, 0.271009, 125.95, -0.0198576, 0.00940719, -0.00105345, 0.000319584, 0, -5.80349e-023, -4.10418e-019, -0.00158221, 0.0167858, 
 - Focal length: 125.95
 - Total focus distance: 624.618
 - Principal point: 0,0
 - Optical axis dir: -0.00158221,0.0167858,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0198576,0.00940719
 - Distort radial depth: -0.00105345,0.000319584
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.149299
 - > Std. Dev.: 0.156324
 - > Min: 0.0130977
 - > Max: 0.941161
 - 
Iteration: 13
 - Parameters:
 - 0.389351, 0.282042, 131.384, -0.0186957, 0.00815416, -0.00108308, 0.00032374, 0, -5.80349e-023, -4.10418e-019, -0.00184674, 0.0169016, 
 - Focal length: 131.384
 - Total focus distance: 651.366
 - Principal point: 0,0
 - Optical axis dir: -0.00184674,0.0169016,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0186957,0.00815416
 - Distort radial depth: -0.00108308,0.00032374
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.148374
 - > Std. Dev.: 0.151172
 - > Min: 0.0130973
 - > Max: 0.913096
 - 
Iteration: 14
 - Parameters:
 - 0.389914, 0.301697, 142.252, -0.0163869, 0.00560933, -0.00113534, 0.000329441, 0, -5.80349e-023, -4.10418e-019, -0.00229837, 0.0170824, 
 - Focal length: 142.252
 - Total focus distance: 704.8
 - Principal point: 0,0
 - Optical axis dir: -0.00229837,0.0170824,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0163869,0.00560933
 - Distort radial depth: -0.00113534,0.000329441
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.147063
 - > Std. Dev.: 0.141675
 - > Min: 0.0123616
 - > Max: 0.889075
 - 
Iteration: 15
 - Parameters:
 - 0.391042, 0.333758, 163.989, -0.0119187, 0.00055701, -0.00121871, 0.000333392, 0, -5.80349e-023, -4.10418e-019, -0.00296124, 0.0173288, 
 - Focal length: 163.989
 - Total focus distance: 811.468
 - Principal point: 0,0
 - Optical axis dir: -0.00296124,0.0173288,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0119187,0.00055701
 - Distort radial depth: -0.00121871,0.000333392
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.146428
 - > Std. Dev.: 0.126143
 - > Min: 0.0116919
 - > Max: 0.895875
 - 
Iteration: 16
 - Parameters:
 - 0.393099, 0.374724, 207.086, -0.00418218, -0.00853305, -0.00131862, 0.000321558, 0, -5.80349e-023, -4.10418e-019, -0.00351356, 0.0175957, 
 - Focal length: 207.086
 - Total focus distance: 1022.38
 - Principal point: 0,0
 - Optical axis dir: -0.00351356,0.0175957,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.00418218,-0.00853305
 - Distort radial depth: -0.00131862,0.000321558
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.150441
 - > Std. Dev.: 0.108843
 - > Min: 0.0113747
 - > Max: 0.917198
 - 
Iteration: 17
 - Parameters:
 - 0.393182, 0.373905, 215.437, -0.00351135, -0.00916251, -0.00131, 0.00030959, 0, -5.80349e-023, -4.10418e-019, -0.00309932, 0.0177417, 
 - Focal length: 215.437
 - Total focus distance: 1063.51
 - Principal point: 0,0
 - Optical axis dir: -0.00309932,0.0177417,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.00351135,-0.00916251
 - Distort radial depth: -0.00131,0.00030959
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.14708
 - > Std. Dev.: 0.111982
 - > Min: 0.0122454
 - > Max: 0.936625
 - 
Iteration: 18
 - Parameters:
 - 0.393197, 0.37358, 215.986, -0.0034134, -0.00926202, -0.00130904, 0.000307815, 0, -5.80349e-023, -4.10418e-019, -0.00296414, 0.0177165, 
 - Focal length: 215.986
 - Total focus distance: 1066.21
 - Principal point: 0,0
 - Optical axis dir: -0.00296414,0.0177165,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0034134,-0.00926202
 - Distort radial depth: -0.00130904,0.000307815
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.146997
 - > Std. Dev.: 0.112085
 - > Min: 0.0126664
 - > Max: 0.937311
 - 
Iteration: 19
 - Parameters:
 - 0.3932, 0.37351, 216.034, -0.00339149, -0.00928331, -0.00130878, 0.000307508, 0, -5.80349e-023, -4.10418e-019, -0.00293672, 0.0177118, 
 - Focal length: 216.034
 - Total focus distance: 1066.44
 - Principal point: 0,0
 - Optical axis dir: -0.00293672,0.0177118,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.00339149,-0.00928331
 - Distort radial depth: -0.00130878,0.000307508
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.147008
 - > Std. Dev.: 0.112071
 - > Min: 0.0127351
 - > Max: 0.937283
 - 
Iteration: 20
 - Parameters:
 - 0.393201, 0.373497, 216.043, -0.0033877, -0.00928698, -0.00130873, 0.000307453, 0, -5.80349e-023, -4.10418e-019, -0.00293182, 0.0177107, 
 - Focal length: 216.043
 - Total focus distance: 1066.48
 - Principal point: 0,0
 - Optical axis dir: -0.00293182,0.0177107,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0033877,-0.00928698
 - Distort radial depth: -0.00130873,0.000307453
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.14701
 - > Std. Dev.: 0.112068
 - > Min: 0.0127472
 - > Max: 0.937281
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.393201, 0.373497, 216.043, -0.0033877, -0.00928698, -0.00130873, 0.000307453, -4.10418e-019, -5.80349e-023, -4.10418e-019, -0.00293182, 0.0177107, 
 - Focal length: 216.043
 - Total focus distance: 1066.48
 - Principal point: 0,0
 - Optical axis dir: -0.00293182,0.0177107,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -5.80349e-023
 - Distort radial: ,-0.0033877,-0.00928698
 - Distort radial depth: -0.00130873,0.000307453
 - Distort axial depth: -4.10418e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.14701
 - > Std. Dev.: 0.112068
 - > Min: 0.0127472
 - > Max: 0.937281
 - 
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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 9.96273
 - > Std. Dev.: 4.27643
 - > Min: 0.225058
 - > Max: 28.131
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 9.96273
 - > Std. Dev.: 4.27643
 - > Min: 0.225058
 - > Max: 28.131
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 9.96273
 - > Std. Dev.: 4.27643
 - > Min: 0.225058
 - > Max: 28.131
 - 
Iteration: 1
 - Parameters:
 - 0.0546958, -0.0748949, 131.997, -0.0833235, 0.0791361, -0.00152426, -0.000470647, 0, 0, 0, -2.3368e-006, 9.38411e-005, 
 - Focal length: 131.997
 - Total focus distance: 2684.5
 - Principal point: 0,0
 - Optical axis dir: -2.3368e-006,9.38411e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0833235,0.0791361
 - Distort radial depth: -0.00152426,-0.000470647
 - 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: 126.164
 - > Std. Dev.: 68.2162
 - > Min: 10.1758
 - > Max: 425.63
 - 
Iteration: 2
 - Parameters:
 - 0.0534291, -0.0751707, 120.98, -0.0845102, 0.0810948, -0.00155129, -0.000453438, 0, 0, 0, 3.28756e-005, 0.000114482, 
 - Focal length: 120.98
 - Total focus distance: 2512.74
 - Principal point: 0,0
 - Optical axis dir: 3.28756e-005,0.000114482,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0845102,0.0810948
 - Distort radial depth: -0.00155129,-0.000453438
 - 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: 128.214
 - > Std. Dev.: 69.6096
 - > Min: 10.4588
 - > Max: 434.581
 - 
Iteration: 3
 - Parameters:
 - 0.0618491, -0.0656342, 120.004, -0.0213703, 0.00906861, -0.00184915, -6.00218e-005, 0, 0, 0, 8.74006e-005, 0.000127145, 
 - Focal length: 120.004
 - Total focus distance: 2187.7
 - Principal point: 0,0
 - Optical axis dir: 8.74006e-005,0.000127145,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0213703,0.00906861
 - Distort radial depth: -0.00184915,-6.00218e-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: 108.668
 - > Std. Dev.: 54.7461
 - > Min: 7.7325
 - > Max: 348.043
 - 
Iteration: 4
 - Parameters:
 - 0.629974, 0.302162, 120, 0.000443747, 2.41894e-006, 5.09635e-006, 2.58301e-008, 0, 0, 0, -3.85687e-007, 3.07641e-007, 
 - Focal length: 120
 - Total focus distance: 506.081
 - Principal point: 0,0
 - Optical axis dir: -3.85687e-007,3.07641e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000443747,2.41894e-006
 - Distort radial depth: 5.09635e-006,2.58301e-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: 7.89816
 - > Std. Dev.: 3.39337
 - > Min: 0.192116
 - > Max: 22.3101
 - 
Iteration: 5
 - Parameters:
 - 0.389913, 0.294296, 120, 0.00119478, 6.50977e-006, 1.4665e-005, 7.31645e-008, 0, -7.01158e-020, -6.30252e-019, -1.23857e-006, 1.29762e-006, 
 - Focal length: 120
 - Total focus distance: 594.55
 - Principal point: 0,0
 - Optical axis dir: -1.23857e-006,1.29762e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,0.00119478,6.50977e-006
 - Distort radial depth: 1.4665e-005,7.31645e-008
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.141636
 - > Std. Dev.: 0.210645
 - > Min: 0.0150027
 - > Max: 1.73989
 - 
Iteration: 6
 - Parameters:
 - 0.389602, 0.187518, 120.006, -0.00839473, 0.00193263, -0.000660513, 0.000141109, 0, -7.01158e-020, -6.30252e-019, 0.00364634, -0.00232155, 
 - Focal length: 120.006
 - Total focus distance: 594.79
 - Principal point: 0,0
 - Optical axis dir: 0.00364634,-0.00232155,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00839473,0.00193263
 - Distort radial depth: -0.000660513,0.000141109
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0808501
 - > Std. Dev.: 0.102569
 - > Min: 0.00649381
 - > Max: 1.41171
 - 
Iteration: 7
 - Parameters:
 - 0.389947, 0.154856, 120.044, -0.0153161, 0.0102862, -0.00064325, 0.000202694, 0, -7.01158e-020, -6.30252e-019, 0.00292563, -0.00734189, 
 - Focal length: 120.044
 - Total focus distance: 594.744
 - Principal point: 0,0
 - Optical axis dir: 0.00292563,-0.00734189,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.0153161,0.0102862
 - Distort radial depth: -0.00064325,0.000202694
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0792599
 - > Std. Dev.: 0.0962781
 - > Min: 0.0126869
 - > Max: 1.28213
 - 
Iteration: 8
 - Parameters:
 - 0.389647, 0.145899, 120.243, -0.0220874, 0.0182572, -0.000617423, 0.00018184, 0, -7.01158e-020, -6.30252e-019, 0.00252792, -0.00925398, 
 - Focal length: 120.243
 - Total focus distance: 595.932
 - Principal point: 0,0
 - Optical axis dir: 0.00252792,-0.00925398,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.0220874,0.0182572
 - Distort radial depth: -0.000617423,0.00018184
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0800698
 - > Std. Dev.: 0.0949111
 - > Min: 0.0149383
 - > Max: 1.24838
 - 
Iteration: 9
 - Parameters:
 - 0.389634, 0.14416, 120.674, -0.0230737, 0.019406, -0.000611363, 0.000176354, 0, -7.01158e-020, -6.30252e-019, 0.00248438, -0.00969151, 
 - Focal length: 120.674
 - Total focus distance: 598.077
 - Principal point: 0,0
 - Optical axis dir: 0.00248438,-0.00969151,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.0230737,0.019406
 - Distort radial depth: -0.000611363,0.000176354
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0798836
 - > Std. Dev.: 0.0944794
 - > Min: 0.0158599
 - > Max: 1.24146
 - 
Iteration: 10
 - Parameters:
 - 0.389709, 0.144038, 121.508, -0.0227991, 0.0190324, -0.000610895, 0.000177912, 0, -7.01158e-020, -6.30252e-019, 0.00241016, -0.00981849, 
 - Focal length: 121.508
 - Total focus distance: 602.162
 - Principal point: 0,0
 - Optical axis dir: 0.00241016,-0.00981849,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.0227991,0.0190324
 - Distort radial depth: -0.000610895,0.000177912
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0792954
 - > Std. Dev.: 0.0938906
 - > Min: 0.0131252
 - > Max: 1.24019
 - 
Iteration: 11
 - Parameters:
 - 0.389849, 0.144474, 123.085, -0.0221349, 0.0181453, -0.000611879, 0.000182478, 0, -7.01158e-020, -6.30252e-019, 0.00226877, -0.00988606, 
 - Focal length: 123.085
 - Total focus distance: 609.877
 - Principal point: 0,0
 - Optical axis dir: 0.00226877,-0.00988606,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.0221349,0.0181453
 - Distort radial depth: -0.000611879,0.000182478
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0781664
 - > Std. Dev.: 0.0928793
 - > Min: 0.00955907
 - > Max: 1.2406
 - 
Iteration: 12
 - Parameters:
 - 0.39012, 0.145384, 126.237, -0.0208758, 0.0164523, -0.000613869, 0.000191434, 0, -7.01158e-020, -6.30252e-019, 0.00197714, -0.00998937, 
 - Focal length: 126.237
 - Total focus distance: 625.307
 - Principal point: 0,0
 - Optical axis dir: 0.00197714,-0.00998937,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.0208758,0.0164523
 - Distort radial depth: -0.000613869,0.000191434
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.076041
 - > Std. Dev.: 0.0910628
 - > Min: 0.00995543
 - > Max: 1.24177
 - 
Iteration: 13
 - Parameters:
 - 0.390634, 0.14683, 132.542, -0.0185632, 0.0133281, -0.000616831, 0.00020783, 0, -7.01158e-020, -6.30252e-019, 0.00138585, -0.0102312, 
 - Focal length: 132.542
 - Total focus distance: 656.159
 - Principal point: 0,0
 - Optical axis dir: 0.00138585,-0.0102312,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.0185632,0.0133281
 - Distort radial depth: -0.000616831,0.00020783
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0723329
 - > Std. Dev.: 0.0881468
 - > Min: 0.00777274
 - > Max: 1.24319
 - 
Iteration: 14
 - Parameters:
 - 0.391561, 0.148287, 145.151, -0.0146433, 0.0079891, -0.00061901, 0.000235083, 0, -7.01158e-020, -6.30252e-019, 0.00018962, -0.0108831, 
 - Focal length: 145.151
 - Total focus distance: 717.838
 - Principal point: 0,0
 - Optical axis dir: 0.00018962,-0.0108831,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.0146433,0.0079891
 - Distort radial depth: -0.00061901,0.000235083
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0670054
 - > Std. Dev.: 0.0845436
 - > Min: 0.0102699
 - > Max: 1.24241
 - 
Iteration: 15
 - Parameters:
 - 0.392994, 0.146838, 169.011, -0.00919413, 0.000495752, -0.000612625, 0.000270101, 0, -7.01158e-020, -6.30252e-019, -0.00201609, -0.0126812, 
 - Focal length: 169.011
 - Total focus distance: 834.504
 - Principal point: 0,0
 - Optical axis dir: -0.00201609,-0.0126812,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00919413,0.000495752
 - Distort radial depth: -0.000612625,0.000270101
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0637881
 - > Std. Dev.: 0.0821912
 - > Min: 0.00948672
 - > Max: 1.23061
 - 
Iteration: 16
 - Parameters:
 - 0.393128, 0.140762, 174.574, -0.00837967, -0.000214129, -0.00059831, 0.000262238, 0, -7.01158e-020, -6.30252e-019, -0.00214023, -0.0146723, 
 - Focal length: 174.574
 - Total focus distance: 861.841
 - Principal point: 0,0
 - Optical axis dir: -0.00214023,-0.0146723,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00837967,-0.000214129
 - Distort radial depth: -0.00059831,0.000262238
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0631234
 - > Std. Dev.: 0.0816776
 - > Min: 0.00527042
 - > Max: 1.19599
 - 
Iteration: 17
 - Parameters:
 - 0.393213, 0.136432, 175.922, -0.00803095, -0.000501047, -0.000588168, 0.000256441, 0, -7.01158e-020, -6.30252e-019, -0.00228051, -0.016128, 
 - Focal length: 175.922
 - Total focus distance: 868.413
 - Principal point: 0,0
 - Optical axis dir: -0.00228051,-0.016128,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00803095,-0.000501047
 - Distort radial depth: -0.000588168,0.000256441
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0636149
 - > Std. Dev.: 0.0812039
 - > Min: 0.00525533
 - > Max: 1.17537
 - 
Iteration: 18
 - Parameters:
 - 0.39327, 0.133751, 176.767, -0.00779235, -0.000710846, -0.000581882, 0.000252614, 0, -7.01158e-020, -6.30252e-019, -0.00237101, -0.0170364, 
 - Focal length: 176.767
 - Total focus distance: 872.531
 - Principal point: 0,0
 - Optical axis dir: -0.00237101,-0.0170364,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00779235,-0.000710846
 - Distort radial depth: -0.000581882,0.000252614
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.063889
 - > Std. Dev.: 0.0809546
 - > Min: 0.00535275
 - > Max: 1.16284
 - 
Iteration: 19
 - Parameters:
 - 0.393306, 0.132037, 177.327, -0.00763669, -0.000849514, -0.000577861, 0.000250165, 0, -7.01158e-020, -6.30252e-019, -0.0024302, -0.0176195, 
 - Focal length: 177.327
 - Total focus distance: 875.259
 - Principal point: 0,0
 - Optical axis dir: -0.0024302,-0.0176195,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00763669,-0.000849514
 - Distort radial depth: -0.000577861,0.000250165
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0640498
 - > Std. Dev.: 0.0808137
 - > Min: 0.00503926
 - > Max: 1.15485
 - 
Iteration: 20
 - Parameters:
 - 0.39333, 0.130917, 177.7, -0.00753368, -0.00094201, -0.000575235, 0.000248565, 0, -7.01158e-020, -6.30252e-019, -0.00246944, -0.0180014, 
 - Focal length: 177.7
 - Total focus distance: 877.08
 - Principal point: 0,0
 - Optical axis dir: -0.00246944,-0.0180014,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00753368,-0.00094201
 - Distort radial depth: -0.000575235,0.000248565
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0641489
 - > Std. Dev.: 0.0807291
 - > Min: 0.00494023
 - > Max: 1.14963
 - 
Iteration: 21
 - Parameters:
 - 0.393346, 0.130175, 177.951, -0.00746491, -0.00100408, -0.000573497, 0.000247507, 0, -7.01158e-020, -6.30252e-019, -0.00249566, -0.0182547, 
 - Focal length: 177.951
 - Total focus distance: 878.304
 - Principal point: 0,0
 - Optical axis dir: -0.00249566,-0.0182547,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00746491,-0.00100408
 - Distort radial depth: -0.000573497,0.000247507
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.064212
 - > Std. Dev.: 0.0806764
 - > Min: 0.00492748
 - > Max: 1.14618
 - 
Iteration: 22
 - Parameters:
 - 0.393356, 0.12968, 178.121, -0.00741867, -0.00104597, -0.000572337, 0.0002468, 0, -7.01158e-020, -6.30252e-019, -0.00251327, -0.018424, 
 - Focal length: 178.121
 - Total focus distance: 879.128
 - Principal point: 0,0
 - Optical axis dir: -0.00251327,-0.018424,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00741867,-0.00104597
 - Distort radial depth: -0.000572337,0.0002468
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.064253
 - > Std. Dev.: 0.0806426
 - > Min: 0.00494366
 - > Max: 1.14388
 - 
Iteration: 23
 - Parameters:
 - 0.393363, 0.129348, 178.235, -0.00738756, -0.00107421, -0.000571558, 0.000246325, 0, -7.01158e-020, -6.30252e-019, -0.00252515, -0.0185377, 
 - Focal length: 178.235
 - Total focus distance: 879.686
 - Principal point: 0,0
 - Optical axis dir: -0.00252515,-0.0185377,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00738756,-0.00107421
 - Distort radial depth: -0.000571558,0.000246325
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0642801
 - > Std. Dev.: 0.0806205
 - > Min: 0.0049658
 - > Max: 1.14233
 - 
Iteration: 24
 - Parameters:
 - 0.393368, 0.129124, 178.312, -0.0073665, -0.00109336, -0.000571034, 0.000246005, 0, -7.01158e-020, -6.30252e-019, -0.00253317, -0.0186144, 
 - Focal length: 178.312
 - Total focus distance: 880.063
 - Principal point: 0,0
 - Optical axis dir: -0.00253317,-0.0186144,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.0073665,-0.00109336
 - Distort radial depth: -0.000571034,0.000246005
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.064298
 - > Std. Dev.: 0.0806059
 - > Min: 0.00498584
 - > Max: 1.14129
 - 
Iteration: 25
 - Parameters:
 - 0.393371, 0.128973, 178.365, -0.00735226, -0.00110632, -0.000570679, 0.000245789, 0, -7.01158e-020, -6.30252e-019, -0.0025386, -0.0186662, 
 - Focal length: 178.365
 - Total focus distance: 880.319
 - Principal point: 0,0
 - Optical axis dir: -0.0025386,-0.0186662,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00735226,-0.00110632
 - Distort radial depth: -0.000570679,0.000245789
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0643101
 - > Std. Dev.: 0.0805962
 - > Min: 0.00500171
 - > Max: 1.14058
 - 
Iteration: 26
 - Parameters:
 - 0.393373, 0.12887, 178.4, -0.00734261, -0.00111512, -0.000570439, 0.000245643, 0, -7.01158e-020, -6.30252e-019, -0.00254228, -0.0187013, 
 - Focal length: 178.4
 - Total focus distance: 880.492
 - Principal point: 0,0
 - Optical axis dir: -0.00254228,-0.0187013,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00734261,-0.00111512
 - Distort radial depth: -0.000570439,0.000245643
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0643182
 - > Std. Dev.: 0.0805896
 - > Min: 0.00501352
 - > Max: 1.14011
 - 
Iteration: 27
 - Parameters:
 - 0.393375, 0.128801, 178.424, -0.00733607, -0.00112108, -0.000570277, 0.000245544, 0, -7.01158e-020, -6.30252e-019, -0.00254477, -0.0187251, 
 - Focal length: 178.424
 - Total focus distance: 880.609
 - Principal point: 0,0
 - Optical axis dir: -0.00254477,-0.0187251,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00733607,-0.00112108
 - Distort radial depth: -0.000570277,0.000245544
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0643237
 - > Std. Dev.: 0.0805853
 - > Min: 0.005022
 - > Max: 1.13979
 - 
Iteration: 28
 - Parameters:
 - 0.393376, 0.128754, 178.441, -0.00733163, -0.00112512, -0.000570167, 0.000245477, 0, -7.01158e-020, -6.30252e-019, -0.00254647, -0.0187412, 
 - Focal length: 178.441
 - Total focus distance: 880.689
 - Principal point: 0,0
 - Optical axis dir: -0.00254647,-0.0187412,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00733163,-0.00112512
 - Distort radial depth: -0.000570167,0.000245477
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0643274
 - > Std. Dev.: 0.0805823
 - > Min: 0.00502797
 - > Max: 1.13957
 - 
Iteration: 29
 - Parameters:
 - 0.393377, 0.128722, 178.452, -0.00732862, -0.00112787, -0.000570092, 0.000245432, 0, -7.01158e-020, -6.30252e-019, -0.00254761, -0.0187521, 
 - Focal length: 178.452
 - Total focus distance: 880.743
 - Principal point: 0,0
 - Optical axis dir: -0.00254761,-0.0187521,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00732862,-0.00112787
 - Distort radial depth: -0.000570092,0.000245432
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0643299
 - > Std. Dev.: 0.0805803
 - > Min: 0.00503212
 - > Max: 1.13942
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
The Calibration converged successfully.
Calibration converged.
Initial values:
 - Parameters:
 - 0.393377, 0.128722, 178.452, -0.00732862, -0.00112787, -0.000570092, 0.000245432, -6.30252e-019, -7.01158e-020, -6.30252e-019, -0.00254761, -0.0187521, 
 - Focal length: 178.452
 - Total focus distance: 880.743
 - Principal point: 0,0
 - Optical axis dir: -0.00254761,-0.0187521,-1
 - Distort center: 0,0
 - Distortion frame z-offset: -7.01158e-020
 - Distort radial: ,-0.00732862,-0.00112787
 - Distort radial depth: -0.000570092,0.000245432
 - Distort axial depth: -6.30252e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.0643299
 - > Std. Dev.: 0.0805803
 - > Min: 0.00503212
 - > Max: 1.13942
 - 

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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 8.33877
 - > Std. Dev.: 7.15256
 - > Min: 0.216426
 - > Max: 33.3407
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 8.33877
 - > Std. Dev.: 7.15256
 - > Min: 0.216426
 - > Max: 33.3407
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 8.33877
 - > Std. Dev.: 7.15256
 - > Min: 0.216426
 - > Max: 33.3407
 - 
Iteration: 1
 - Parameters:
 - 0.0493762, -0.062098, 108.009, -0.0800411, 0.0568028, -0.00112722, -0.000254306, 0, 0, 0, -0.00136363, 0.00129234, 
 - Focal length: 108.009
 - Total focus distance: 2408.83
 - Principal point: 0,0
 - Optical axis dir: -0.00136363,0.00129234,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0800411,0.0568028
 - Distort radial depth: -0.00112722,-0.000254306
 - 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: 117.463
 - > Std. Dev.: 107.815
 - > Min: 8.65235
 - > Max: 508.093
 - 
Iteration: 2
 - Parameters:
 - 0.050519, -0.0608403, 118.857, -0.0750124, 0.0481842, -0.00115172, -0.000205536, 0, 0, 0, -0.00143859, 0.00135198, 
 - Focal length: 118.857
 - Total focus distance: 2596.44
 - Principal point: 0,0
 - Optical axis dir: -0.00143859,0.00135198,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0750124,0.0481842
 - Distort radial depth: -0.00115172,-0.000205536
 - 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: 115.602
 - > Std. Dev.: 106.016
 - > Min: 8.36835
 - > Max: 498.6
 - 
Iteration: 3
 - Parameters:
 - 0.0552208, -0.0554872, 119.992, -0.0403355, 0.00859245, -0.00128061, -3.43212e-005, 0, 0, 0, -0.00146077, 0.00136906, 
 - Focal length: 119.992
 - Total focus distance: 2419.56
 - Principal point: 0,0
 - Optical axis dir: -0.00146077,0.00136906,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0403355,0.00859245
 - Distort radial depth: -0.00128061,-3.43212e-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: 104.548
 - > Std. Dev.: 94.4509
 - > Min: 7.27706
 - > Max: 441.621
 - 
Iteration: 4
 - Parameters:
 - 0.6293, 0.303717, 120, 0.000426835, 2.30995e-006, 4.22167e-006, 1.96407e-008, 0, 0, 0, -8.97729e-009, 3.1806e-007, 
 - Focal length: 120
 - Total focus distance: 506.204
 - Principal point: 0,0
 - Optical axis dir: -8.97729e-009,3.1806e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000426835,2.30995e-006
 - Distort radial depth: 4.22167e-006,1.96407e-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: 6.58888
 - > Std. Dev.: 5.65375
 - > Min: 0.178036
 - > Max: 26.3607
 - 
Iteration: 5
 - Parameters:
 - 0.387879, 0.298901, 120, 0.00114626, 6.19751e-006, 1.18751e-005, 5.34055e-008, 0, 6.19894e-020, -2.1762e-019, -5.20548e-007, 1.56714e-006, 
 - Focal length: 120
 - Total focus distance: 595.92
 - Principal point: 0,0
 - Optical axis dir: -5.20548e-007,1.56714e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,0.00114626,6.19751e-006
 - Distort radial depth: 1.18751e-005,5.34055e-008
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.232009
 - > Std. Dev.: 0.276162
 - > Min: 0.00725055
 - > Max: 1.88274
 - 
Iteration: 6
 - Parameters:
 - 0.389527, 0.24127, 120, -0.0114348, -7.06911e-006, -0.000439705, 5.68819e-006, 0, 6.19894e-020, -2.1762e-019, 0.00418956, 0.00193286, 
 - Focal length: 120
 - Total focus distance: 594.81
 - Principal point: 0,0
 - Optical axis dir: 0.00418956,0.00193286,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.0114348,-7.06911e-006
 - Distort radial depth: -0.000439705,5.68819e-006
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.116664
 - > Std. Dev.: 0.189453
 - > Min: 0.00530454
 - > Max: 1.58526
 - 
Iteration: 7
 - Parameters:
 - 0.389681, 0.238433, 120.001, -0.0123063, 0.000438766, -0.000487789, 3.12723e-005, 0, 6.19894e-020, -2.1762e-019, 0.0139488, 0.00344771, 
 - Focal length: 120.001
 - Total focus distance: 594.711
 - Principal point: 0,0
 - Optical axis dir: 0.0139488,0.00344771,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.0123063,0.000438766
 - Distort radial depth: -0.000487789,3.12723e-005
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.111856
 - > Std. Dev.: 0.16936
 - > Min: 0.00841814
 - > Max: 1.57413
 - 
Iteration: 8
 - Parameters:
 - 0.38907, 0.232013, 120.065, -0.025105, 0.014721, -0.000576076, 9.99456e-005, 0, 6.19894e-020, -2.1762e-019, 0.025918, -0.000185881, 
 - Focal length: 120.065
 - Total focus distance: 595.438
 - Principal point: 0,0
 - Optical axis dir: 0.025918,-0.000185881,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.025105,0.014721
 - Distort radial depth: -0.000576076,9.99456e-005
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.115101
 - > Std. Dev.: 0.154697
 - > Min: 0.0103095
 - > Max: 1.55209
 - 
Iteration: 9
 - Parameters:
 - 0.388383, 0.234434, 120.454, -0.0345822, 0.0253573, -0.000573828, 8.4289e-005, 0, 6.19894e-020, -2.1762e-019, 0.0266668, 0.00035329, 
 - Focal length: 120.454
 - Total focus distance: 597.833
 - Principal point: 0,0
 - Optical axis dir: 0.0266668,0.00035329,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.0345822,0.0253573
 - Distort radial depth: -0.000573828,8.4289e-005
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.115262
 - > Std. Dev.: 0.153552
 - > Min: 0.0112803
 - > Max: 1.57304
 - 
Iteration: 10
 - Parameters:
 - 0.38837, 0.235173, 121.208, -0.0355418, 0.0263701, -0.00057191, 8.17577e-005, 0, 6.19894e-020, -2.1762e-019, 0.0267187, 0.000504508, 
 - Focal length: 121.208
 - Total focus distance: 601.583
 - Principal point: 0,0
 - Optical axis dir: 0.0267187,0.000504508,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.0355418,0.0263701
 - Distort radial depth: -0.00057191,8.17577e-005
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.115219
 - > Std. Dev.: 0.152519
 - > Min: 0.0114745
 - > Max: 1.5769
 - 
Iteration: 11
 - Parameters:
 - 0.388523, 0.23658, 122.606, -0.0346923, 0.0252952, -0.000570637, 8.49556e-005, 0, 6.19894e-020, -2.1762e-019, 0.0265544, 0.00087243, 
 - Focal length: 122.606
 - Total focus distance: 608.415
 - Principal point: 0,0
 - Optical axis dir: 0.0265544,0.00087243,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.0346923,0.0252952
 - Distort radial depth: -0.000570637,8.49556e-005
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.114888
 - > Std. Dev.: 0.150919
 - > Min: 0.0124604
 - > Max: 1.58067
 - 
Iteration: 12
 - Parameters:
 - 0.388832, 0.239233, 125.401, -0.0328575, 0.0229887, -0.000568341, 9.18797e-005, 0, 6.19894e-020, -2.1762e-019, 0.0261815, 0.00159245, 
 - Focal length: 125.401
 - Total focus distance: 622.069
 - Principal point: 0,0
 - Optical axis dir: 0.0261815,0.00159245,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.0328575,0.0229887
 - Distort radial depth: -0.000568341,9.18797e-005
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.114361
 - > Std. Dev.: 0.148038
 - > Min: 0.00678752
 - > Max: 1.58745
 - 
Iteration: 13
 - Parameters:
 - 0.389417, 0.24416, 130.992, -0.029428, 0.0186481, -0.000563546, 0.000104801, 0, 6.19894e-020, -2.1762e-019, 0.0254124, 0.00299039, 
 - Focal length: 130.992
 - Total focus distance: 649.375
 - Principal point: 0,0
 - Optical axis dir: 0.0254124,0.00299039,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.029428,0.0186481
 - Distort radial depth: -0.000563546,0.000104801
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.11394
 - > Std. Dev.: 0.143309
 - > Min: 0.00514116
 - > Max: 1.60021
 - 
Iteration: 14
 - Parameters:
 - 0.390455, 0.252713, 142.174, -0.0234519, 0.010971, -0.000553673, 0.000127254, 0, 6.19894e-020, -2.1762e-019, 0.023834, 0.00561888, 
 - Focal length: 142.174
 - Total focus distance: 703.985
 - Principal point: 0,0
 - Optical axis dir: 0.023834,0.00561888,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.0234519,0.010971
 - Distort radial depth: -0.000553673,0.000127254
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.115117
 - > Std. Dev.: 0.137186
 - > Min: 0.0156197
 - > Max: 1.62345
 - 
Iteration: 15
 - Parameters:
 - 0.39089, 0.256151, 148.705, -0.0209695, 0.00764606, -0.000550741, 0.000133726, 0, 6.19894e-020, -2.1762e-019, 0.0231719, 0.00673436, 
 - Focal length: 148.705
 - Total focus distance: 735.963
 - Principal point: 0,0
 - Optical axis dir: 0.0231719,0.00673436,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.0209695,0.00764606
 - Distort radial depth: -0.000550741,0.000133726
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.115548
 - > Std. Dev.: 0.136029
 - > Min: 0.0118139
 - > Max: 1.6344
 - 
Iteration: 16
 - Parameters:
 - 0.390889, 0.256109, 149.009, -0.020962, 0.00759233, -0.000551027, 0.000131486, 0, 6.19894e-020, -2.1762e-019, 0.0232308, 0.00669935, 
 - Focal length: 149.009
 - Total focus distance: 737.468
 - Principal point: 0,0
 - Optical axis dir: 0.0232308,0.00669935,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.020962,0.00759233
 - Distort radial depth: -0.000551027,0.000131486
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.115371
 - > Std. Dev.: 0.136172
 - > Min: 0.0111749
 - > Max: 1.63481
 - 
Iteration: 17
 - Parameters:
 - 0.39089, 0.256122, 149.02, -0.0209556, 0.00759185, -0.000550898, 0.00013133, 0, 6.19894e-020, -2.1762e-019, 0.0232334, 0.00670863, 
 - Focal length: 149.02
 - Total focus distance: 737.523
 - Principal point: 0,0
 - Optical axis dir: 0.0232334,0.00670863,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.0209556,0.00759185
 - Distort radial depth: -0.000550898,0.00013133
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.115374
 - > Std. Dev.: 0.13617
 - > Min: 0.0111995
 - > Max: 1.6349
 - 
Iteration: 18
 - Parameters:
 - 0.39089, 0.25612, 149.019, -0.020957, 0.00759311, -0.000550904, 0.000131309, 0, 6.19894e-020, -2.1762e-019, 0.023235, 0.00670761, 
 - Focal length: 149.019
 - Total focus distance: 737.519
 - Principal point: 0,0
 - Optical axis dir: 0.023235,0.00670761,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.020957,0.00759311
 - Distort radial depth: -0.000550904,0.000131309
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.115374
 - > Std. Dev.: 0.13617
 - > Min: 0.011193
 - > Max: 1.6349
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.39089, 0.25612, 149.019, -0.020957, 0.00759311, -0.000550904, 0.000131309, -2.1762e-019, 6.19894e-020, -2.1762e-019, 0.023235, 0.00670761, 
 - Focal length: 149.019
 - Total focus distance: 737.519
 - Principal point: 0,0
 - Optical axis dir: 0.023235,0.00670761,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 6.19894e-020
 - Distort radial: ,-0.020957,0.00759311
 - Distort radial depth: -0.000550904,0.000131309
 - Distort axial depth: -2.1762e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.115374
 - > Std. Dev.: 0.13617
 - > Min: 0.011193
 - > Max: 1.6349
 - 
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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 12.2421
 - > Std. Dev.: 4.75983
 - > Min: 0.128595
 - > Max: 31.0619
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 12.2421
 - > Std. Dev.: 4.75983
 - > Min: 0.128595
 - > Max: 31.0619
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 12.2421
 - > Std. Dev.: 4.75983
 - > Min: 0.128595
 - > Max: 31.0619
 - 
Iteration: 1
 - Parameters:
 - 0.0542574, -0.0647062, 108.004, -0.0613649, 0.0535485, -0.00184274, 0.000155789, 0, 0, 0, -0.000537828, -7.83002e-005, 
 - Focal length: 108.004
 - Total focus distance: 2212.45
 - Principal point: 0,0
 - Optical axis dir: -0.000537828,-7.83002e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0613649,0.0535485
 - Distort radial depth: -0.00184274,0.000155789
 - 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: 153.738
 - > Std. Dev.: 63.5375
 - > Min: 7.41112
 - > Max: 383.746
 - 
Iteration: 2
 - Parameters:
 - 0.0554583, -0.063728, 118.885, -0.0599389, 0.0518511, -0.00185092, 0.000185963, 0, 0, 0, -0.000577878, -8.25393e-005, 
 - Focal length: 118.885
 - Total focus distance: 2388.04
 - Principal point: 0,0
 - Optical axis dir: -0.000577878,-8.25393e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0599389,0.0518511
 - Distort radial depth: -0.00185092,0.000185963
 - 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: 151.791
 - > Std. Dev.: 62.419
 - > Min: 7.2455
 - > Max: 378.69
 - 
Iteration: 3
 - Parameters:
 - 0.0607922, -0.0577567, 119.99, -0.021863, 0.00899112, -0.00181492, 0.000133156, 0, 0, 0, -0.000587773, -8.06959e-005, 
 - Focal length: 119.99
 - Total focus distance: 2221.05
 - Principal point: 0,0
 - Optical axis dir: -0.000587773,-8.06959e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.021863,0.00899112
 - Distort radial depth: -0.00181492,0.000133156
 - 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: 136.914
 - > Std. Dev.: 55.1108
 - > Min: 6.77312
 - > Max: 341.733
 - 
Iteration: 4
 - Parameters:
 - 0.629736, 0.302702, 120, 0.000427043, 2.2901e-006, 5.06962e-006, 2.62125e-008, 0, 0, 0, -2.69659e-007, 5.09415e-007, 
 - Focal length: 120
 - Total focus distance: 506.124
 - Principal point: 0,0
 - Optical axis dir: -2.69659e-007,5.09415e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000427043,2.2901e-006
 - Distort radial depth: 5.06962e-006,2.62125e-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: 9.70233
 - > Std. Dev.: 3.76915
 - > Min: 0.104846
 - > Max: 24.5657
 - 
Iteration: 5
 - Parameters:
 - 0.389199, 0.296041, 120, 0.00114857, 6.15915e-006, 1.44816e-005, 7.37364e-008, 0, 1.56355e-022, -5.3082e-019, -1.00734e-006, 1.82777e-006, 
 - Focal length: 120
 - Total focus distance: 595.029
 - Principal point: 0,0
 - Optical axis dir: -1.00734e-006,1.82777e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,0.00114857,6.15915e-006
 - Distort radial depth: 1.44816e-005,7.37364e-008
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.249007
 - > Std. Dev.: 0.216418
 - > Min: 0.0153981
 - > Max: 1.75787
 - 
Iteration: 6
 - Parameters:
 - 0.388748, 0.229772, 120, -0.00926013, 2.47322e-005, -0.00065121, 2.06437e-005, 0, 1.56355e-022, -5.3082e-019, 0.00253175, 0.00386402, 
 - Focal length: 120
 - Total focus distance: 595.334
 - Principal point: 0,0
 - Optical axis dir: 0.00253175,0.00386402,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.00926013,2.47322e-005
 - Distort radial depth: -0.00065121,2.06437e-005
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.167132
 - > Std. Dev.: 0.183441
 - > Min: 0.0063168
 - > Max: 1.59949
 - 
Iteration: 7
 - Parameters:
 - 0.388472, 0.229749, 120.051, -0.0148074, 0.00643905, -0.000838738, 0.000258606, 0, 1.56355e-022, -5.3082e-019, 0.00604269, 0.00867049, 
 - Focal length: 120.051
 - Total focus distance: 595.774
 - Principal point: 0,0
 - Optical axis dir: 0.00604269,0.00867049,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.0148074,0.00643905
 - Distort radial depth: -0.000838738,0.000258606
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.167207
 - > Std. Dev.: 0.175955
 - > Min: 0.00833007
 - > Max: 1.60953
 - 
Iteration: 8
 - Parameters:
 - 0.388133, 0.228711, 120.265, -0.0196885, 0.0119969, -0.000851163, 0.000272852, 0, 1.56355e-022, -5.3082e-019, 0.00586717, 0.00829, 
 - Focal length: 120.265
 - Total focus distance: 597.065
 - Principal point: 0,0
 - Optical axis dir: 0.00586717,0.00829,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.0196885,0.0119969
 - Distort radial depth: -0.000851163,0.000272852
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.16637
 - > Std. Dev.: 0.176301
 - > Min: 0.0189664
 - > Max: 1.60711
 - 
Iteration: 9
 - Parameters:
 - 0.388104, 0.228957, 120.686, -0.0205442, 0.0129492, -0.000850115, 0.000271799, 0, 1.56355e-022, -5.3082e-019, 0.0058604, 0.00838103, 
 - Focal length: 120.686
 - Total focus distance: 599.174
 - Principal point: 0,0
 - Optical axis dir: 0.0058604,0.00838103,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.0205442,0.0129492
 - Distort radial depth: -0.000850115,0.000271799
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.165959
 - > Std. Dev.: 0.176027
 - > Min: 0.0193534
 - > Max: 1.60868
 - 
Iteration: 10
 - Parameters:
 - 0.388171, 0.229701, 121.505, -0.020355, 0.0126716, -0.000851704, 0.000273797, 0, 1.56355e-022, -5.3082e-019, 0.00584012, 0.00851352, 
 - Focal length: 121.505
 - Total focus distance: 603.192
 - Principal point: 0,0
 - Optical axis dir: 0.00584012,0.00851352,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.020355,0.0126716
 - Distort radial depth: -0.000851704,0.000273797
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.165127
 - > Std. Dev.: 0.175559
 - > Min: 0.0194213
 - > Max: 1.61134
 - 
Iteration: 11
 - Parameters:
 - 0.38831, 0.231125, 123.058, -0.0197934, 0.0119138, -0.000855002, 0.000278017, 0, 1.56355e-022, -5.3082e-019, 0.00580568, 0.00876658, 
 - Focal length: 123.058
 - Total focus distance: 610.809
 - Principal point: 0,0
 - Optical axis dir: 0.00580568,0.00876658,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.0197934,0.0119138
 - Distort radial depth: -0.000855002,0.000278017
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.163616
 - > Std. Dev.: 0.174698
 - > Min: 0.019623
 - > Max: 1.6163
 - 
Iteration: 12
 - Parameters:
 - 0.388559, 0.233629, 125.875, -0.018795, 0.0105673, -0.000860777, 0.000285404, 0, 1.56355e-022, -5.3082e-019, 0.00574201, 0.00921665, 
 - Focal length: 125.875
 - Total focus distance: 624.611
 - Principal point: 0,0
 - Optical axis dir: 0.00574201,0.00921665,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.018795,0.0105673
 - Distort radial depth: -0.000860777,0.000285404
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.1611
 - > Std. Dev.: 0.173231
 - > Min: 0.0204012
 - > Max: 1.62502
 - 
Iteration: 13
 - Parameters:
 - 0.389036, 0.238232, 131.507, -0.0169468, 0.00805504, -0.000871056, 0.000298814, 0, 1.56355e-022, -5.3082e-019, 0.00559731, 0.0100844, 
 - Focal length: 131.507
 - Total focus distance: 652.207
 - Principal point: 0,0
 - Optical axis dir: 0.00559731,0.0100844,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.0169468,0.00805504
 - Distort radial depth: -0.000871056,0.000298814
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.15686
 - > Std. Dev.: 0.170652
 - > Min: 0.0143572
 - > Max: 1.64126
 - 
Iteration: 14
 - Parameters:
 - 0.389914, 0.246253, 142.772, -0.0137046, 0.00360578, -0.000888136, 0.000321466, 0, 1.56355e-022, -5.3082e-019, 0.00527536, 0.011701, 
 - Focal length: 142.772
 - Total focus distance: 707.373
 - Principal point: 0,0
 - Optical axis dir: 0.00527536,0.011701,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.0137046,0.00360578
 - Distort radial depth: -0.000888136,0.000321466
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.151241
 - > Std. Dev.: 0.166625
 - > Min: 0.00891253
 - > Max: 1.67032
 - 
Iteration: 15
 - Parameters:
 - 0.3914, 0.25852, 165.301, -0.00871619, -0.00338537, -0.000911714, 0.000353644, 0, 1.56355e-022, -5.3082e-019, 0.00455992, 0.014503, 
 - Focal length: 165.301
 - Total focus distance: 817.633
 - Principal point: 0,0
 - Optical axis dir: 0.00455992,0.014503,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.00871619,-0.00338537
 - Distort radial depth: -0.000911714,0.000353644
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.148912
 - > Std. Dev.: 0.161502
 - > Min: 0.00499724
 - > Max: 1.71815
 - 
Iteration: 16
 - Parameters:
 - 0.391602, 0.260316, 172.523, -0.0080807, -0.00425242, -0.000915316, 0.000354148, 0, 1.56355e-022, -5.3082e-019, 0.00447347, 0.0149539, 
 - Focal length: 172.523
 - Total focus distance: 853.161
 - Principal point: 0,0
 - Optical axis dir: 0.00447347,0.0149539,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.0080807,-0.00425242
 - Distort radial depth: -0.000915316,0.000354148
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.146861
 - > Std. Dev.: 0.162566
 - > Min: 0.00534366
 - > Max: 1.72262
 - 
Iteration: 17
 - Parameters:
 - 0.391603, 0.260344, 172.817, -0.0080637, -0.00426876, -0.000915254, 0.000353098, 0, 1.56355e-022, -5.3082e-019, 0.00450582, 0.0149663, 
 - Focal length: 172.817
 - Total focus distance: 854.616
 - Principal point: 0,0
 - Optical axis dir: 0.00450582,0.0149663,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.0080637,-0.00426876
 - Distort radial depth: -0.000915254,0.000353098
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.146777
 - > Std. Dev.: 0.162639
 - > Min: 0.00481599
 - > Max: 1.72267
 - 
Iteration: 18
 - Parameters:
 - 0.391603, 0.260345, 172.82, -0.00806223, -0.00426974, -0.000915241, 0.000353031, 0, 1.56355e-022, -5.3082e-019, 0.00450958, 0.0149666, 
 - Focal length: 172.82
 - Total focus distance: 854.63
 - Principal point: 0,0
 - Optical axis dir: 0.00450958,0.0149666,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.00806223,-0.00426974
 - Distort radial depth: -0.000915241,0.000353031
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.146783
 - > Std. Dev.: 0.162633
 - > Min: 0.00481406
 - > Max: 1.72269
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.391603, 0.260345, 172.82, -0.00806223, -0.00426974, -0.000915241, 0.000353031, -5.3082e-019, 1.56355e-022, -5.3082e-019, 0.00450958, 0.0149666, 
 - Focal length: 172.82
 - Total focus distance: 854.63
 - Principal point: 0,0
 - Optical axis dir: 0.00450958,0.0149666,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.56355e-022
 - Distort radial: ,-0.00806223,-0.00426974
 - Distort radial depth: -0.000915241,0.000353031
 - Distort axial depth: -5.3082e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.146783
 - > Std. Dev.: 0.162633
 - > Min: 0.00481406
 - > Max: 1.72269
 - 
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:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.7991
 - > Std. Dev.: 4.24239
 - > Min: 0.128086
 - > Max: 25.5878
 - 
Initialized calibration data
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.7991
 - > Std. Dev.: 4.24239
 - > Min: 0.128086
 - > Max: 25.5878
 - 
Evaluated error function
Calibration started
Initial values:
 - Parameters:
 - 0.749996, 0.305447, 120, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
 - Focal length: 120
 - Total focus distance: 490
 - 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: 11.7991
 - > Std. Dev.: 4.24239
 - > Min: 0.128086
 - > Max: 25.5878
 - 
Iteration: 1
 - Parameters:
 - 0.0608335, -0.0683975, 132.049, -0.0695143, 0.0781005, -0.00147534, -1.21124e-005, 0, 0, 0, -0.000451445, 5.80912e-005, 
 - Focal length: 132.049
 - Total focus distance: 2442.79
 - Principal point: 0,0
 - Optical axis dir: -0.000451445,5.80912e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0695143,0.0781005
 - Distort radial depth: -0.00147534,-1.21124e-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: 133.766
 - > Std. Dev.: 52.1383
 - > Min: 5.25512
 - > Max: 319.824
 - 
Iteration: 2
 - Parameters:
 - 0.059705, -0.0688339, 120.947, -0.0682277, 0.0761634, -0.00149672, -1.28792e-005, 0, 0, 0, -0.000398777, 8.2163e-005, 
 - Focal length: 120.947
 - Total focus distance: 2274.86
 - Principal point: 0,0
 - Optical axis dir: -0.000398777,8.2163e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.0682277,0.0761634
 - Distort radial depth: -0.00149672,-1.28792e-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: 135.483
 - > Std. Dev.: 53.0124
 - > Min: 5.20089
 - > Max: 325.154
 - 
Iteration: 3
 - Parameters:
 - 0.067616, -0.0597199, 120.002, -0.00921227, 0.00949168, -0.00156475, 7.06083e-005, 0, 0, 0, -0.000375036, 9.9876e-005, 
 - Focal length: 120.002
 - Total focus distance: 2022.87
 - Principal point: 0,0
 - Optical axis dir: -0.000375036,9.9876e-005,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,-0.00921227,0.00949168
 - Distort radial depth: -0.00156475,7.06083e-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: 117.394
 - > Std. Dev.: 44.4318
 - > Min: 4.73437
 - > Max: 268.004
 - 
Iteration: 4
 - Parameters:
 - 0.629971, 0.302463, 120, 0.000433082, 2.34883e-006, 5.1218e-006, 2.65448e-008, 0, 0, 0, -2.03108e-007, 3.17017e-007, 
 - Focal length: 120
 - Total focus distance: 506.081
 - Principal point: 0,0
 - Optical axis dir: -2.03108e-007,3.17017e-007,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 0
 - Distort radial: ,0.000433082,2.34883e-006
 - Distort radial depth: 5.1218e-006,2.65448e-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: 9.35211
 - > Std. Dev.: 3.35371
 - > Min: 0.114294
 - > Max: 20.2102
 - 
Iteration: 5
 - Parameters:
 - 0.389902, 0.295387, 120, 0.00116527, 6.31657e-006, 1.46555e-005, 7.46864e-008, 0, 1.59991e-020, -5.85863e-019, -6.95449e-007, 1.28606e-006, 
 - Focal length: 120
 - Total focus distance: 594.557
 - Principal point: 0,0
 - Optical axis dir: -6.95449e-007,1.28606e-006,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,0.00116527,6.31657e-006
 - Distort radial depth: 1.46555e-005,7.46864e-008
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.245944
 - > Std. Dev.: 0.204754
 - > Min: 0.0049228
 - > Max: 1.73083
 - 
Iteration: 6
 - Parameters:
 - 0.390184, 0.201552, 120.006, -0.00667063, 0.00218378, -0.000639252, 0.000110584, 0, 1.59991e-020, -5.85863e-019, 0.0014655, 0.00395061, 
 - Focal length: 120.006
 - Total focus distance: 594.399
 - Principal point: 0,0
 - Optical axis dir: 0.0014655,0.00395061,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.00667063,0.00218378
 - Distort radial depth: -0.000639252,0.000110584
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.133244
 - > Std. Dev.: 0.138279
 - > Min: 0.00863141
 - > Max: 1.4928
 - 
Iteration: 7
 - Parameters:
 - 0.390274, 0.178441, 120.036, -0.0148354, 0.0118241, -0.000644063, 0.000177005, 0, 1.59991e-020, -5.85863e-019, -0.000573967, 0.00377568, 
 - Focal length: 120.036
 - Total focus distance: 594.486
 - Principal point: 0,0
 - Optical axis dir: -0.000573967,0.00377568,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0148354,0.0118241
 - Distort radial depth: -0.000644063,0.000177005
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.131022
 - > Std. Dev.: 0.131484
 - > Min: 0.0110195
 - > Max: 1.43346
 - 
Iteration: 8
 - Parameters:
 - 0.389672, 0.171723, 120.216, -0.0258996, 0.0246586, -0.000621475, 0.000161379, 0, 1.59991e-020, -5.85863e-019, -0.00134407, 0.00329374, 
 - Focal length: 120.216
 - Total focus distance: 595.783
 - Principal point: 0,0
 - Optical axis dir: -0.00134407,0.00329374,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0258996,0.0246586
 - Distort radial depth: -0.000621475,0.000161379
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.130842
 - > Std. Dev.: 0.130565
 - > Min: 0.00843403
 - > Max: 1.41683
 - 
Iteration: 9
 - Parameters:
 - 0.389569, 0.170727, 120.659, -0.0281422, 0.0272464, -0.000616006, 0.000156559, 0, 1.59991e-020, -5.85863e-019, -0.00147626, 0.00324855, 
 - Focal length: 120.659
 - Total focus distance: 598.048
 - Principal point: 0,0
 - Optical axis dir: -0.00147626,0.00324855,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0281422,0.0272464
 - Distort radial depth: -0.000616006,0.000156559
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.130419
 - > Std. Dev.: 0.130231
 - > Min: 0.00684094
 - > Max: 1.41472
 - 
Iteration: 10
 - Parameters:
 - 0.389622, 0.171245, 121.519, -0.0280862, 0.027125, -0.000616977, 0.000158476, 0, 1.59991e-020, -5.85863e-019, -0.00155495, 0.00328908, 
 - Focal length: 121.519
 - Total focus distance: 602.276
 - Principal point: 0,0
 - Optical axis dir: -0.00155495,0.00328908,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0280862,0.027125
 - Distort radial depth: -0.000616977,0.000158476
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.129531
 - > Std. Dev.: 0.12973
 - > Min: 0.00720822
 - > Max: 1.4165
 - 
Iteration: 11
 - Parameters:
 - 0.389739, 0.172636, 123.161, -0.0276051, 0.0264474, -0.000620285, 0.000163244, 0, 1.59991e-020, -5.85863e-019, -0.00166835, 0.00339205, 
 - Focal length: 123.161
 - Total focus distance: 610.334
 - Principal point: 0,0
 - Optical axis dir: -0.00166835,0.00339205,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0276051,0.0264474
 - Distort radial depth: -0.000620285,0.000163244
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.127875
 - > Std. Dev.: 0.128821
 - > Min: 0.00644578
 - > Max: 1.42093
 - 
Iteration: 12
 - Parameters:
 - 0.389949, 0.175168, 126.173, -0.0267306, 0.0252158, -0.000626296, 0.000171828, 0, 1.59991e-020, -5.85863e-019, -0.00186997, 0.00358171, 
 - Focal length: 126.173
 - Total focus distance: 625.11
 - Principal point: 0,0
 - Optical axis dir: -0.00186997,0.00358171,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0267306,0.0252158
 - Distort radial depth: -0.000626296,0.000171828
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.125006
 - > Std. Dev.: 0.127268
 - > Min: 0.00499887
 - > Max: 1.429
 - 
Iteration: 13
 - Parameters:
 - 0.390356, 0.179702, 132.196, -0.0251185, 0.0229287, -0.000636846, 0.000187674, 0, 1.59991e-020, -5.85863e-019, -0.00230182, 0.00392746, 
 - Focal length: 132.196
 - Total focus distance: 654.652
 - Principal point: 0,0
 - Optical axis dir: -0.00230182,0.00392746,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0251185,0.0229287
 - Distort radial depth: -0.000636846,0.000187674
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.11996
 - > Std. Dev.: 0.124532
 - > Min: 0.00675059
 - > Max: 1.44377
 - 
Iteration: 14
 - Parameters:
 - 0.391119, 0.187285, 144.243, -0.0222904, 0.0188926, -0.000653955, 0.000215351, 0, 1.59991e-020, -5.85863e-019, -0.00319133, 0.00454172, 
 - Focal length: 144.243
 - Total focus distance: 713.698
 - Principal point: 0,0
 - Optical axis dir: -0.00319133,0.00454172,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0222904,0.0188926
 - Distort radial depth: -0.000653955,0.000215351
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.112501
 - > Std. Dev.: 0.120283
 - > Min: 0.0110144
 - > Max: 1.4695
 - 
Iteration: 15
 - Parameters:
 - 0.392439, 0.19789, 168.336, -0.0179618, 0.0126378, -0.000676114, 0.000257549, 0, 1.59991e-020, -5.85863e-019, -0.00498559, 0.00551221, 
 - Focal length: 168.336
 - Total focus distance: 831.684
 - Principal point: 0,0
 - Optical axis dir: -0.00498559,0.00551221,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0179618,0.0126378
 - Distort radial depth: -0.000676114,0.000257549
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.107355
 - > Std. Dev.: 0.1143
 - > Min: 0.00510745
 - > Max: 1.50948
 - 
Iteration: 16
 - Parameters:
 - 0.393067, 0.202794, 186.058, -0.0158486, 0.00972627, -0.000685351, 0.000275096, 0, 1.59991e-020, -5.85863e-019, -0.00560183, 0.00625183, 
 - Focal length: 186.058
 - Total focus distance: 918.599
 - Principal point: 0,0
 - Optical axis dir: -0.00560183,0.00625183,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0158486,0.00972627
 - Distort radial depth: -0.000685351,0.000275096
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.104664
 - > Std. Dev.: 0.114368
 - > Min: 0.00424397
 - > Max: 1.52331
 - 
Iteration: 17
 - Parameters:
 - 0.39304, 0.203406, 186.912, -0.0156786, 0.00956182, -0.00068671, 0.000274497, 0, 1.59991e-020, -5.85863e-019, -0.00527116, 0.0064235, 
 - Focal length: 186.912
 - Total focus distance: 922.845
 - Principal point: 0,0
 - Optical axis dir: -0.00527116,0.0064235,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0156786,0.00956182
 - Distort radial depth: -0.00068671,0.000274497
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.103361
 - > Std. Dev.: 0.115448
 - > Min: 0.0055472
 - > Max: 1.5225
 - 
Iteration: 18
 - Parameters:
 - 0.393045, 0.203463, 187.074, -0.0156592, 0.00952685, -0.00068682, 0.000274726, 0, 1.59991e-020, -5.85863e-019, -0.00528532, 0.00641962, 
 - Focal length: 187.074
 - Total focus distance: 923.635
 - Principal point: 0,0
 - Optical axis dir: -0.00528532,0.00641962,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0156592,0.00952685
 - Distort radial depth: -0.00068682,0.000274726
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.103387
 - > Std. Dev.: 0.115425
 - > Min: 0.00566202
 - > Max: 1.52264
 - 
Iteration: 19
 - Parameters:
 - 0.393045, 0.203471, 187.06, -0.0156574, 0.00952521, -0.000686834, 0.000274717, 0, 1.59991e-020, -5.85863e-019, -0.00528103, 0.0064216, 
 - Focal length: 187.06
 - Total focus distance: 923.567
 - Principal point: 0,0
 - Optical axis dir: -0.00528103,0.0064216,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0156574,0.00952521
 - Distort radial depth: -0.000686834,0.000274717
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.103385
 - > Std. Dev.: 0.115426
 - > Min: 0.00566104
 - > Max: 1.52266
 - 
Calibration finished
The calibration converged!
Estimated camera format found
Planar model collection and camera format updated
Initial values:
 - Parameters:
 - 0.393045, 0.203471, 187.06, -0.0156574, 0.00952521, -0.000686834, 0.000274717, -5.85863e-019, 1.59991e-020, -5.85863e-019, -0.00528103, 0.0064216, 
 - Focal length: 187.06
 - Total focus distance: 923.567
 - Principal point: 0,0
 - Optical axis dir: -0.00528103,0.0064216,-1
 - Distort center: 0,0
 - Distortion frame z-offset: 1.59991e-020
 - Distort radial: ,-0.0156574,0.00952521
 - Distort radial depth: -0.000686834,0.000274717
 - Distort axial depth: -5.85863e-019
 - Lateral Correction: 0,0,0,0,0,1
 - Inverse Lateral Correction: 0,0,0,0,0,1
 - Depth Correction: 0,0,0,0,1,0
 - Inverse Depth Correction: 0,0,0,0,1,0
 - Euclidean distance:
 - > Mean: 0.103385
 - > Std. Dev.: 0.115426
 - > Min: 0.00566104
 - > Max: 1.52266
 - 
The Calibration converged successfully.
Calibration converged.
Sequence of 8 target images saved