reading file /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_experiments/01_initial_estimate_vs_error/batch_mmtbot_incomplete.yml Loaded config file /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_experiments/01_initial_estimate_vs_error/batch_mmtbot_incomplete.yml (rendered with nested variable substitution) {'home': '/home/daniela', 'dataset_path': '/home/daniela/datasets/train_dataset_1', 'cmd_prefix': 'rosrun atom_calibration calibrate -json /home/daniela/datasets/train_dataset_1/data_collected.json ', 'output_folder': '/home/daniela/datasets/train_dataset_1/results_incomplete', 'batches': [{'name': 'incomplete_0', 'cmd': "rosrun atom_calibration calibrate -json /home/daniela/datasets/train_dataset_1/data_collected.json -csf 'lambda name: int(name) in [0,6,7,9,10,14,15,18,19,29]' -nig 0.05 0.02 -ss 1", 'files_to_collect': ['/home/daniela/datasets/train_dataset_1/atom_calibration.json', '/tmp/optimized.urdf.xacro']}, {'name': 'incomplete_2', 'cmd': "rosrun atom_calibration calibrate -json /home/daniela/datasets/train_dataset_1/data_collected.json -csf 'lambda name: int(name) in [0,6,7,9,10,14,15,18,19,29,1,2]' -nig 0.05 0.02 -ss 1", 'files_to_collect': ['/home/daniela/datasets/train_dataset_1/atom_calibration.json', '/tmp/optimized.urdf.xacro']}, {'name': 'incomplete_3', 'cmd': "rosrun atom_calibration calibrate -json /home/daniela/datasets/train_dataset_1/data_collected.json -csf 'lambda name: int(name) in [0,6,7,9,10,14,15,18,19,29,1,2,3,4]' -nig 0.05 0.02 -ss 1", 'files_to_collect': ['/home/daniela/datasets/train_dataset_1/atom_calibration.json', '/tmp/optimized.urdf.xacro']}, {'name': 'incomplete_5', 'cmd': "rosrun atom_calibration calibrate -json /home/daniela/datasets/train_dataset_1/data_collected.json -csf 'lambda name: int(name) in [0,6,7,9,10,14,15,18,19,29,1,2,3,4,5]' -nig 0.05 0.02 -ss 1", 'files_to_collect': ['/home/daniela/datasets/train_dataset_1/atom_calibration.json', '/tmp/optimized.urdf.xacro']}]} Batch0, executing command: rosrun atom_calibration calibrate -json /home/daniela/datasets/train_dataset_1/data_collected.json -csf 'lambda name: int(name) in [0,6,7,9,10,14,15,18,19,29]' -nig 0.05 0.02 -ss 1 Batch0 terminated, stdout is: Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_0.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_6.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_7.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_9.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_10.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_14.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_15.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_18.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_19.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_29.pcd Skipped loading images and point clouds for collections: ['1', '2', '3', '4', '5', '8', '11', '12', '13', '16', '17', '20', '21', '22', '23', '24', '25', '26', '27', '28']. Deleted collections: ['1', '2', '3', '4', '5', '8', '11', '12', '13', '16', '17', '20', '21', '22', '23', '24', '25', '26', '27', '28'] because of the -csf flag. Deleted collections: [] because these are incomplete. If you want to use them set the use_incomplete_collections flag. Deleted collections: []: at least one detection by a camera should be present. After filtering, will use 10 collections: dict_keys(['0', '6', '7', '9', '10', '14', '15', '18', '19', '29']) Loaded dataset containing 3 sensors and 10 collections. Initializing optimizer... Selected collection key is 0 Anchored sensor is  Creating parameters ... Creating residuals ... RNG Seed: 1 Computing sparse matrix ... Initializing optimization ... Starting optimization ... Iteration Total nfev Cost Cost reduction Step norm Optimality 0 1 1.2205e+05 3.37e+06 1 2 6.8825e+03 1.15e+05 2.06e-01 7.68e+05 2 3 1.4032e+02 6.74e+03 1.56e-01 4.25e+04 3 4 1.6388e+01 1.24e+02 7.44e-02 9.85e+03 4 5 8.4494e+00 7.94e+00 2.72e-02 2.08e+03 5 6 7.8442e+00 6.05e-01 2.06e-02 1.32e+03 6 8 7.2993e+00 5.45e-01 2.77e-03 4.13e+03 7 9 7.2422e+00 5.71e-02 3.76e-03 2.93e+03 8 10 7.0219e+00 2.20e-01 7.22e-04 9.02e+02 9 11 6.9786e+00 4.33e-02 9.01e-04 1.16e+03 10 13 6.9518e+00 2.69e-02 1.75e-04 1.92e+02 11 14 6.9465e+00 5.25e-03 1.60e-04 2.54e+02 12 15 6.9392e+00 7.32e-03 1.76e-04 1.80e+02 13 16 6.9269e+00 1.23e-02 2.20e-04 2.60e+02 14 17 6.9053e+00 2.17e-02 3.60e-04 1.84e+02 15 18 6.8679e+00 3.74e-02 7.05e-04 2.44e+02 16 19 6.8114e+00 5.64e-02 1.35e-03 2.05e+02 17 20 6.7531e+00 5.83e-02 2.55e-03 2.04e+02 18 21 6.7498e+00 3.36e-03 3.89e-03 2.58e+02 19 22 6.7431e+00 6.66e-03 1.42e-03 3.55e+02 20 24 6.7429e+00 2.42e-04 2.13e-04 4.15e+02 21 26 6.7403e+00 2.59e-03 2.92e-05 1.77e+02 22 28 6.7397e+00 5.40e-04 1.42e-05 7.46e+01 23 30 6.7396e+00 1.08e-04 7.66e-06 2.45e+01 24 31 6.7396e+00 2.02e-05 3.08e-05 2.86e+01 25 32 6.7396e+00 7.80e-06 2.48e-05 2.65e+01 26 33 6.7396e+00 1.54e-05 3.96e-06 3.58e+00 27 34 6.7396e+00 3.30e-06 5.16e-06 5.35e+00 28 35 6.7396e+00 2.71e-06 5.48e-06 4.28e+00 29 36 6.7396e+00 4.87e-06 8.90e-06 4.54e+00 30 37 6.7396e+00 8.35e-06 7.78e-06 4.31e+00 31 38 6.7396e+00 1.44e-05 6.48e-06 5.25e+00 32 39 6.7395e+00 2.62e-05 9.69e-06 6.57e+00 33 40 6.7395e+00 4.85e-05 1.90e-05 6.24e+00 34 41 6.7394e+00 9.05e-05 3.87e-05 7.90e+00 35 42 6.7392e+00 1.60e-04 7.68e-05 7.65e+00 36 43 6.7390e+00 2.48e-04 1.54e-04 9.42e+00 37 44 6.7388e+00 2.06e-04 3.07e-04 1.11e+01 38 45 6.7388e+00 1.34e-06 2.97e-04 1.21e+01 39 47 6.7388e+00 5.32e-06 3.90e-05 1.62e+01 40 49 6.7388e+00 3.25e-06 5.17e-06 4.55e-01 41 50 6.7388e+00 5.32e-07 1.84e-05 9.19e-01 42 51 6.7388e+00 5.24e-07 2.39e-05 7.15e-01 43 52 6.7388e+00 2.94e-07 1.01e-05 1.42e+00 44 53 6.7388e+00 1.62e-07 8.64e-06 1.04e+00 45 54 6.7388e+00 7.19e-08 6.18e-06 1.44e+00 46 56 6.7388e+00 5.83e-09 1.94e-06 8.95e-01 47 57 6.7388e+00 2.27e-08 1.45e-07 2.03e-01 `ftol` termination condition is satisfied. Function evaluations 57, initial cost 1.2205e+05, final cost 6.7388e+00, first-order optimality 2.03e-01. ------------- Optimization finished: `ftol` termination condition is satisfied. Final errors: Sensor 3dlidar 0.004907897146042969 Sensor hand_camera 0.25104013137773235 Sensor world_camera 0.2862482603863597 Saving the json output file to /home/daniela/datasets/train_dataset_1/atom_calibration.json, please wait, it could take a while ... Completed. Parsing description file /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_description/urdf/mmtbot.urdf.xacro Executing command: xacro /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_description/urdf/mmtbot.urdf.xacro -o /tmp/description.urdf Found joint: 3dlidar_base_mount_joint Replacing xyz = [0.0, 0.0, 0.001] by [0.0034012394237877535, 0.002149386685482688, 0.002205675851929776] Replacing rpy = [0.0, 0.0, 0.0] by [-0.0031627152188817877, 0.00021721609678551575, -0.0016221200677126488] Found joint: hand_camera_joint Replacing xyz = [-0.02, 0.05, 0.07] by [-0.017431435538468026, 0.07373164011664053, 0.07044998083086952] Replacing rpy = [0.0, 0.0, 0.0] by [0.0007230494715519811, 0.0011421186072510193, -0.00022138768707927995] Found joint: world_camera_joint Replacing xyz = [0.02, 0.07, 0.015] by [0.02080770019025254, 0.09163991945001469, 0.014766601919887797] Replacing rpy = [0.0, 0.0, 0.0] by [0.0003903308912765477, 0.0003435493084163012, 7.09644082066644e-05] Optimized xacro file saved to /tmp/optimized.urdf.xacro . You can use it as a ROS robot_description. Moving file /home/daniela/datasets/train_dataset_1/atom_calibration.json to /home/daniela/datasets/train_dataset_1/results_incomplete/00_incomplete_0_atom_calibration.json Moving file /tmp/optimized.urdf.xacro to /home/daniela/datasets/train_dataset_1/results_incomplete/00_incomplete_0_optimized.urdf.xacro Command executed in 28.51015 secs. Batch1, executing command: rosrun atom_calibration calibrate -json /home/daniela/datasets/train_dataset_1/data_collected.json -csf 'lambda name: int(name) in [0,6,7,9,10,14,15,18,19,29,1,2]' -nig 0.05 0.02 -ss 1 Batch1 terminated, stdout is: Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_0.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_1.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_2.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_6.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_7.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_9.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_10.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_14.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_15.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_18.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_19.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_29.pcd Skipped loading images and point clouds for collections: ['3', '4', '5', '8', '11', '12', '13', '16', '17', '20', '21', '22', '23', '24', '25', '26', '27', '28']. Deleted collections: ['3', '4', '5', '8', '11', '12', '13', '16', '17', '20', '21', '22', '23', '24', '25', '26', '27', '28'] because of the -csf flag. Deleted collections: [] because these are incomplete. If you want to use them set the use_incomplete_collections flag. Deleted collections: []: at least one detection by a camera should be present. After filtering, will use 12 collections: dict_keys(['0', '1', '2', '6', '7', '9', '10', '14', '15', '18', '19', '29']) Loaded dataset containing 3 sensors and 12 collections. Initializing optimizer... Selected collection key is 0 Anchored sensor is  Creating parameters ... Creating residuals ... RNG Seed: 1 Computing sparse matrix ... Initializing optimization ... Starting optimization ... Iteration Total nfev Cost Cost reduction Step norm Optimality 0 1 1.4106e+05 3.91e+06 1 2 7.9597e+03 1.33e+05 2.15e-01 8.82e+05 2 3 1.2484e+02 7.83e+03 1.71e-01 4.21e+04 3 4 1.7059e+01 1.08e+02 7.23e-02 9.44e+03 4 5 9.6911e+00 7.37e+00 2.81e-02 2.45e+03 5 6 9.1616e+00 5.30e-01 2.18e-02 1.63e+03 6 8 8.4246e+00 7.37e-01 2.98e-03 5.13e+03 7 9 8.2901e+00 1.34e-01 4.07e-03 3.95e+03 8 10 8.0049e+00 2.85e-01 7.47e-04 7.68e+02 9 11 7.9628e+00 4.21e-02 7.84e-04 1.10e+03 10 12 7.9541e+00 8.76e-03 7.60e-04 8.75e+02 11 13 7.9339e+00 2.02e-02 2.03e-04 4.68e+02 12 14 7.9290e+00 4.86e-03 1.48e-04 2.02e+02 13 15 7.9253e+00 3.70e-03 1.33e-04 3.50e+02 14 16 7.9218e+00 3.57e-03 1.13e-04 1.76e+02 15 17 7.9150e+00 6.76e-03 1.84e-04 3.18e+02 16 18 7.9026e+00 1.24e-02 2.25e-04 1.75e+02 17 19 7.8802e+00 2.24e-02 3.60e-04 3.10e+02 18 20 7.8419e+00 3.84e-02 6.55e-04 2.07e+02 19 21 7.7825e+00 5.94e-02 1.22e-03 2.75e+02 20 22 7.7122e+00 7.03e-02 2.21e-03 2.56e+02 21 23 7.6853e+00 2.69e-02 4.15e-03 2.55e+02 22 25 7.6808e+00 4.47e-03 5.37e-04 3.43e+02 23 27 7.6806e+00 2.84e-04 1.81e-04 3.69e+02 24 29 7.6790e+00 1.60e-03 2.49e-05 1.49e+02 25 31 7.6787e+00 2.93e-04 1.18e-05 4.22e+01 26 32 7.6787e+00 1.14e-05 3.02e-05 6.67e+01 27 33 7.6786e+00 4.38e-05 5.87e-06 1.39e+01 28 34 7.6786e+00 7.58e-06 5.82e-06 7.17e+00 29 35 7.6786e+00 1.19e-05 6.23e-06 1.38e+01 30 36 7.6786e+00 2.28e-05 6.83e-06 7.45e+00 31 37 7.6785e+00 4.34e-05 1.19e-05 1.43e+01 32 38 7.6784e+00 8.06e-05 2.43e-05 8.24e+00 33 39 7.6783e+00 1.39e-04 4.52e-05 1.38e+01 34 40 7.6781e+00 2.10e-04 8.66e-05 9.49e+00 35 41 7.6779e+00 2.15e-04 1.68e-04 1.05e+01 36 42 7.6779e+00 6.95e-06 1.66e-04 1.20e+01 37 43 7.6779e+00 1.32e-05 6.98e-05 1.48e+01 38 45 7.6779e+00 2.87e-07 6.91e-06 1.75e+01 39 46 7.6779e+00 4.90e-06 3.39e-06 6.87e+00 40 48 7.6779e+00 7.04e-07 5.89e-07 2.53e+00 41 50 7.6779e+00 1.10e-07 3.04e-07 5.59e-01 42 51 7.6779e+00 1.99e-08 3.73e-07 2.58e-01 `ftol` termination condition is satisfied. Function evaluations 51, initial cost 1.4106e+05, final cost 7.6779e+00, first-order optimality 2.58e-01. ------------- Optimization finished: `ftol` termination condition is satisfied. Final errors: Sensor 3dlidar 0.004851605459174287 Sensor hand_camera 0.23929626316527455 Sensor world_camera 0.2915635453809102 Saving the json output file to /home/daniela/datasets/train_dataset_1/atom_calibration.json, please wait, it could take a while ... Completed. Parsing description file /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_description/urdf/mmtbot.urdf.xacro Executing command: xacro /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_description/urdf/mmtbot.urdf.xacro -o /tmp/description.urdf Found joint: 3dlidar_base_mount_joint Replacing xyz = [0.0, 0.0, 0.001] by [0.003014908190810451, 0.0009612808122924591, 0.00326717629424385] Replacing rpy = [0.0, 0.0, 0.0] by [-0.006033906026948704, 0.00156708119978633, -0.0012514684836656222] Found joint: hand_camera_joint Replacing xyz = [-0.02, 0.05, 0.07] by [-0.01750105935465113, 0.07368669314760923, 0.07040166043088075] Replacing rpy = [0.0, 0.0, 0.0] by [0.0006572140152551297, 0.0011111191335263484, -0.00019943653858606276] Found joint: world_camera_joint Replacing xyz = [0.02, 0.07, 0.015] by [0.020794515345475686, 0.09163410262713766, 0.014847081625120991] Replacing rpy = [0.0, 0.0, 0.0] by [0.00037991630818109376, 0.00040103256525723984, 9.708170531219668e-05] Optimized xacro file saved to /tmp/optimized.urdf.xacro . You can use it as a ROS robot_description. Moving file /home/daniela/datasets/train_dataset_1/atom_calibration.json to /home/daniela/datasets/train_dataset_1/results_incomplete/01_incomplete_2_atom_calibration.json Moving file /tmp/optimized.urdf.xacro to /home/daniela/datasets/train_dataset_1/results_incomplete/01_incomplete_2_optimized.urdf.xacro Command executed in 38.27268 secs. Batch2, executing command: rosrun atom_calibration calibrate -json /home/daniela/datasets/train_dataset_1/data_collected.json -csf 'lambda name: int(name) in [0,6,7,9,10,14,15,18,19,29,1,2,3,4]' -nig 0.05 0.02 -ss 1 Batch2 terminated, stdout is: Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_0.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_1.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_2.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_3.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_4.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_6.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_7.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_9.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_10.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_14.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_15.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_18.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_19.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_29.pcd Skipped loading images and point clouds for collections: ['5', '8', '11', '12', '13', '16', '17', '20', '21', '22', '23', '24', '25', '26', '27', '28']. Deleted collections: ['5', '8', '11', '12', '13', '16', '17', '20', '21', '22', '23', '24', '25', '26', '27', '28'] because of the -csf flag. Deleted collections: [] because these are incomplete. If you want to use them set the use_incomplete_collections flag. Deleted collections: []: at least one detection by a camera should be present. After filtering, will use 14 collections: dict_keys(['0', '1', '2', '3', '4', '6', '7', '9', '10', '14', '15', '18', '19', '29']) Loaded dataset containing 3 sensors and 14 collections. Initializing optimizer... Selected collection key is 0 Anchored sensor is  Creating parameters ... Creating residuals ... RNG Seed: 1 Computing sparse matrix ... Initializing optimization ... Starting optimization ... Iteration Total nfev Cost Cost reduction Step norm Optimality 0 1 1.6512e+05 4.59e+06 1 2 8.4917e+03 1.57e+05 2.10e-01 9.98e+05 2 3 1.5794e+02 8.33e+03 1.75e-01 1.62e+04 3 4 1.1722e+01 1.46e+02 7.55e-02 5.74e+03 4 5 9.7852e+00 1.94e+00 2.26e-02 4.14e+03 5 6 9.6497e+00 1.36e-01 1.47e-02 2.46e+03 6 8 9.2297e+00 4.20e-01 2.83e-03 2.85e+03 7 9 9.1801e+00 4.96e-02 3.52e-03 2.24e+03 8 10 8.9828e+00 1.97e-01 8.01e-04 5.84e+02 9 11 8.9533e+00 2.95e-02 8.40e-04 6.64e+02 10 12 8.9481e+00 5.20e-03 6.06e-04 6.39e+02 11 13 8.9368e+00 1.13e-02 2.04e-04 2.51e+02 12 14 8.9348e+00 2.03e-03 1.71e-04 1.64e+02 13 15 8.9332e+00 1.59e-03 1.29e-04 2.15e+02 14 16 8.9318e+00 1.38e-03 1.42e-04 1.61e+02 15 17 8.9307e+00 1.15e-03 1.43e-04 2.05e+02 16 18 8.9299e+00 8.10e-04 1.65e-04 1.60e+02 17 19 8.9282e+00 1.63e-03 6.08e-05 8.17e+01 18 20 8.9278e+00 4.23e-04 3.60e-05 7.58e+01 19 21 8.9271e+00 7.45e-04 3.51e-05 6.62e+01 20 22 8.9256e+00 1.44e-03 5.76e-05 7.32e+01 21 23 8.9229e+00 2.72e-03 7.33e-05 5.43e+01 22 24 8.9179e+00 5.00e-03 1.23e-04 1.04e+02 23 25 8.9094e+00 8.50e-03 2.21e-04 7.86e+01 24 26 8.8954e+00 1.40e-02 4.47e-04 1.32e+02 25 27 8.8749e+00 2.05e-02 8.67e-04 9.42e+01 26 28 8.8561e+00 1.89e-02 1.72e-03 1.24e+02 27 29 8.8554e+00 7.11e-04 7.93e-04 9.68e+01 28 31 8.8550e+00 3.48e-04 1.54e-04 1.53e+02 29 33 8.8549e+00 8.39e-05 4.33e-05 1.50e+02 30 34 8.8547e+00 2.08e-04 1.01e-05 5.55e+01 31 35 8.8547e+00 7.66e-06 1.86e-05 4.15e+01 32 36 8.8547e+00 3.55e-05 5.82e-06 6.87e+00 33 37 8.8547e+00 4.14e-06 1.33e-05 1.20e+01 34 38 8.8547e+00 1.16e-06 9.56e-06 9.93e+00 35 39 8.8547e+00 4.59e-06 3.28e-06 4.16e+00 36 40 8.8547e+00 1.11e-06 2.56e-06 1.72e+00 37 41 8.8547e+00 1.50e-06 3.22e-06 2.87e+00 38 42 8.8547e+00 2.48e-06 3.98e-06 2.59e+00 39 43 8.8547e+00 4.07e-06 5.40e-06 4.15e+00 40 44 8.8546e+00 6.93e-06 7.70e-06 3.69e+00 41 45 8.8546e+00 1.15e-05 1.34e-05 5.00e+00 42 46 8.8546e+00 1.82e-05 2.44e-05 4.53e+00 43 47 8.8546e+00 2.46e-05 4.84e-05 5.49e+00 44 48 8.8546e+00 1.05e-05 4.72e-05 5.96e+00 45 51 8.8546e+00 1.01e-08 3.69e-06 6.96e+00 46 53 8.8546e+00 7.59e-07 1.07e-06 1.71e+00 47 54 8.8546e+00 9.90e-08 1.50e-06 1.52e+00 48 55 8.8546e+00 5.42e-08 1.20e-06 1.62e+00 `ftol` termination condition is satisfied. Function evaluations 55, initial cost 1.6512e+05, final cost 8.8546e+00, first-order optimality 1.62e+00. ------------- Optimization finished: `ftol` termination condition is satisfied. Final errors: Sensor 3dlidar 0.004817599646072958 Sensor hand_camera 0.22506318574445397 Sensor world_camera 0.3001153111095248 Saving the json output file to /home/daniela/datasets/train_dataset_1/atom_calibration.json, please wait, it could take a while ... Completed. Parsing description file /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_description/urdf/mmtbot.urdf.xacro Executing command: xacro /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_description/urdf/mmtbot.urdf.xacro -o /tmp/description.urdf Found joint: 3dlidar_base_mount_joint Replacing xyz = [0.0, 0.0, 0.001] by [0.002299966141460738, 0.0005812476195593446, 0.003908839209887257] Replacing rpy = [0.0, 0.0, 0.0] by [-0.005024539716640296, 0.0019295749805657099, -0.0009939336461340718] Found joint: hand_camera_joint Replacing xyz = [-0.02, 0.05, 0.07] by [-0.01781831550596705, 0.07435058777897417, 0.07034150259988038] Replacing rpy = [0.0, 0.0, 0.0] by [0.0005876706585127413, 0.0010683737647122632, -0.0005726472462680141] Found joint: world_camera_joint Replacing xyz = [0.02, 0.07, 0.015] by [0.020383474585734963, 0.09232895474261438, 0.014921706027001163] Replacing rpy = [0.0, 0.0, 0.0] by [0.000393497923803584, 0.0004917048215910783, -0.00013296662488704287] Optimized xacro file saved to /tmp/optimized.urdf.xacro . You can use it as a ROS robot_description. Moving file /home/daniela/datasets/train_dataset_1/atom_calibration.json to /home/daniela/datasets/train_dataset_1/results_incomplete/02_incomplete_3_atom_calibration.json Moving file /tmp/optimized.urdf.xacro to /home/daniela/datasets/train_dataset_1/results_incomplete/02_incomplete_3_optimized.urdf.xacro Command executed in 43.31293 secs. Batch3, executing command: rosrun atom_calibration calibrate -json /home/daniela/datasets/train_dataset_1/data_collected.json -csf 'lambda name: int(name) in [0,6,7,9,10,14,15,18,19,29,1,2,3,4,5]' -nig 0.05 0.02 -ss 1 Batch3 terminated, stdout is: Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_0.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_1.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_2.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_3.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_4.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_5.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_6.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_7.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_9.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_10.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_14.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_15.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_18.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_19.pcd Reading point cloud from /home/daniela/datasets/train_dataset_1/3dlidar_29.pcd Skipped loading images and point clouds for collections: ['8', '11', '12', '13', '16', '17', '20', '21', '22', '23', '24', '25', '26', '27', '28']. Deleted collections: ['8', '11', '12', '13', '16', '17', '20', '21', '22', '23', '24', '25', '26', '27', '28'] because of the -csf flag. Deleted collections: [] because these are incomplete. If you want to use them set the use_incomplete_collections flag. Deleted collections: []: at least one detection by a camera should be present. After filtering, will use 15 collections: dict_keys(['0', '1', '2', '3', '4', '5', '6', '7', '9', '10', '14', '15', '18', '19', '29']) Loaded dataset containing 3 sensors and 15 collections. Initializing optimizer... Selected collection key is 0 Anchored sensor is  Creating parameters ... Creating residuals ... RNG Seed: 1 Computing sparse matrix ... Initializing optimization ... Starting optimization ... Iteration Total nfev Cost Cost reduction Step norm Optimality 0 1 1.7683e+05 4.91e+06 1 2 8.6012e+03 1.68e+05 2.12e-01 1.03e+06 2 3 1.2030e+02 8.48e+03 1.94e-01 4.26e+04 3 4 1.1813e+01 1.08e+02 6.27e-02 3.62e+03 4 5 1.0466e+01 1.35e+00 2.22e-02 2.91e+03 5 7 9.8273e+00 6.39e-01 3.93e-03 6.19e+03 6 8 9.8100e+00 1.73e-02 4.03e-03 6.47e+03 7 9 9.4059e+00 4.04e-01 1.14e-03 2.97e+03 8 10 9.4009e+00 4.92e-03 1.46e-03 3.89e+03 9 11 9.2725e+00 1.28e-01 3.10e-04 1.18e+03 10 12 9.2689e+00 3.59e-03 6.30e-04 1.25e+03 11 13 9.2469e+00 2.20e-02 1.73e-04 2.45e+02 12 14 9.2431e+00 3.83e-03 2.08e-04 2.14e+02 13 15 9.2413e+00 1.85e-03 1.72e-04 1.26e+02 14 16 9.2398e+00 1.42e-03 1.82e-04 2.34e+02 15 17 9.2387e+00 1.10e-03 1.32e-04 1.35e+02 16 18 9.2378e+00 9.11e-04 1.33e-04 2.85e+02 17 19 9.2372e+00 6.57e-04 1.01e-04 1.94e+02 18 20 9.2370e+00 2.27e-04 1.15e-04 3.76e+02 19 21 9.2357e+00 1.28e-03 4.15e-05 1.01e+02 20 22 9.2354e+00 2.71e-04 3.27e-05 4.54e+01 21 23 9.2349e+00 4.63e-04 3.28e-05 8.65e+01 22 24 9.2340e+00 8.94e-04 3.54e-05 4.94e+01 23 25 9.2323e+00 1.72e-03 5.93e-05 1.03e+02 24 26 9.2291e+00 3.19e-03 8.96e-05 6.14e+01 25 27 9.2236e+00 5.51e-03 1.96e-04 1.21e+02 26 28 9.2151e+00 8.52e-03 3.66e-04 6.71e+01 27 29 9.2039e+00 1.12e-02 7.45e-04 1.09e+02 28 30 9.1995e+00 4.45e-03 1.49e-03 1.35e+02 29 32 9.1988e+00 7.21e-04 2.29e-04 1.52e+02 30 34 9.1988e+00 3.25e-06 7.36e-05 1.74e+02 31 36 9.1984e+00 3.43e-04 1.30e-05 7.02e+01 32 38 9.1984e+00 5.87e-05 6.57e-06 1.91e+01 33 39 9.1984e+00 1.99e-06 1.42e-05 1.76e+01 34 40 9.1984e+00 6.83e-06 3.76e-06 5.98e+00 35 41 9.1984e+00 1.30e-06 2.53e-06 2.55e+00 36 42 9.1984e+00 9.00e-07 1.78e-06 4.90e+00 37 43 9.1984e+00 1.62e-06 1.93e-06 2.66e+00 38 44 9.1984e+00 3.02e-06 2.75e-06 5.04e+00 39 45 9.1983e+00 5.62e-06 3.88e-06 2.82e+00 40 46 9.1983e+00 1.02e-05 8.38e-06 5.14e+00 41 47 9.1983e+00 1.70e-05 1.57e-05 2.94e+00 42 48 9.1983e+00 2.51e-05 3.20e-05 4.70e+00 43 49 9.1983e+00 2.11e-05 6.07e-05 5.49e+00 44 50 9.1983e+00 1.38e-06 1.89e-05 7.42e+00 45 52 9.1983e+00 7.58e-07 6.42e-06 9.08e+00 46 53 9.1983e+00 9.47e-07 1.99e-06 4.82e+00 47 55 9.1983e+00 3.08e-07 4.70e-07 1.22e+00 48 56 9.1983e+00 6.64e-08 1.06e-06 1.26e+00 `ftol` termination condition is satisfied. Function evaluations 56, initial cost 1.7683e+05, final cost 9.1983e+00, first-order optimality 1.26e+00. ------------- Optimization finished: `ftol` termination condition is satisfied. Final errors: Sensor 3dlidar 0.004795622183621015 Sensor hand_camera 0.2183316398696963 Sensor world_camera 0.2983035191866074 Saving the json output file to /home/daniela/datasets/train_dataset_1/atom_calibration.json, please wait, it could take a while ... Completed. Parsing description file /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_description/urdf/mmtbot.urdf.xacro Executing command: xacro /home/daniela/catkin_ws/src/calibration/mmtbot/mmtbot_description/urdf/mmtbot.urdf.xacro -o /tmp/description.urdf Found joint: 3dlidar_base_mount_joint Replacing xyz = [0.0, 0.0, 0.001] by [0.0023727998669885084, 0.0013591082843176787, 0.0028841085582941165] Replacing rpy = [0.0, 0.0, 0.0] by [-0.0053344086759390345, 0.0014744197589946731, -0.0013958371617185732] Found joint: hand_camera_joint Replacing xyz = [-0.02, 0.05, 0.07] by [-0.01797755590308894, 0.07451254607618453, 0.07023110870790954] Replacing rpy = [0.0, 0.0, 0.0] by [0.0005179245575900309, 0.0010082614781780537, -0.0006603917454774871] Found joint: world_camera_joint Replacing xyz = [0.02, 0.07, 0.015] by [0.02022482245365136, 0.09250555860026395, 0.014933735533020258] Replacing rpy = [0.0, 0.0, 0.0] by [0.00034475501320689345, 0.0005282041503670102, -0.00016838580749075277] Optimized xacro file saved to /tmp/optimized.urdf.xacro . You can use it as a ROS robot_description. Moving file /home/daniela/datasets/train_dataset_1/atom_calibration.json to /home/daniela/datasets/train_dataset_1/results_incomplete/03_incomplete_5_atom_calibration.json Moving file /tmp/optimized.urdf.xacro to /home/daniela/datasets/train_dataset_1/results_incomplete/03_incomplete_5_optimized.urdf.xacro Command executed in 51.50595 secs.