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terminal_session.txt
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cpaxton@babylon:~/catkin_ws/src/handeye_calib_camodocal$ roslaunch handeye_calib_camodocal handeye_file.launch
WARNING: Package name "ObjRecRANSAC" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
... logging to /home/cpaxton/.ros/log/a829db0a-f96b-11e6-b1dd-fc4dd43dd90b/roslaunch-babylon-19005.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
WARNING: Package name "ObjRecRANSAC" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
started roslaunch server http://babylon:37070/
SUMMARY
========
PARAMETERS
* /handeye_calib_camodocal/ARTagTF: /ar_marker_0
* /handeye_calib_camodocal/EETF: /ee_link
* /handeye_calib_camodocal/baseTF: /base_link
* /handeye_calib_camodocal/cameraTF: /camera_link
* /handeye_calib_camodocal/load_transforms_from_file: True
* /handeye_calib_camodocal/output_calibrated_transform_filename: /home/cpaxton/cat...
* /handeye_calib_camodocal/transform_pairs_record_filename: /home/cpaxton/cat...
* /rosdistro: indigo
* /rosversion: 1.11.20
NODES
/
handeye_calib_camodocal (handeye_calib_camodocal/handeye_calib_camodocal)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
WARNING: Package name "ObjRecRANSAC" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[handeye_calib_camodocal-1]: started with pid [19051]
Calibrated output file: /home/cpaxton/catkin_ws/src/handeye_calib_camodocal/launch/CalibratedTransform.yml
Transform pairs loading file: TransformPairsOutput.yml
[ INFO] [1487823217.769328974]: Adding first transformation.
EE transform:
0.638483 0.767534 0.0568427 0.612118
0.00850229 0.0668179 -0.997729 -0.0399105
-0.769589 0.637516 0.0361363 0.261381
0 0 0 1
Cam transform:
-0.164386 -0.213826 -0.962941 0.764291
0.161875 0.957139 -0.240171 -0.122489
0.973023 -0.195357 -0.122727 0.200385
0 0 0 1
[ INFO] [1487823217.770011696]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.215213vs Cam:0.246387
EE transform:
0.433981 0.775651 -0.458286 0.61283
-0.578521 -0.150023 -0.801752 -0.251463
-0.690633 0.613073 0.383623 0.221866
0 0 0 1
Cam transform:
-0.127277 -0.111455 -0.985585 0.752881
-0.464759 0.884533 -0.0400092 0.117874
0.876242 0.452967 -0.16438 0.147451
0 0 0 1
[ INFO] [1487823217.770532974]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.195441vs Cam:0.216132
EE transform:
0.709849 0.661286 0.242519 0.603354
0.483669 -0.207335 -0.850339 -0.226261
-0.512035 0.720911 -0.46702 0.203122
0 0 0 1
Cam transform:
-0.0013274 0.00287129 -0.999995 0.775879
0.647853 0.761765 0.0013273 0.0894315
0.761765 -0.647848 -0.00287134 0.159541
0 0 0 1
[ INFO] [1487823217.771030753]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.229358vs Cam:0.245743
EE transform:
0.456608 0.884121 -0.0991898 0.443182
0.285236 -0.251085 -0.924985 -0.192034
-0.842704 0.394063 -0.366831 0.230983
0 0 0 1
Cam transform:
-0.378376 0.174054 -0.909141 0.879284
0.348826 0.936566 0.0341261 0.0882483
0.85741 -0.30422 -0.415088 0.252881
0 0 0 1
[ INFO] [1487823217.771498743]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.387457vs Cam:0.366207
EE transform:
0.323211 0.940599 0.103963 0.248849
-0.0689631 0.132979 -0.988717 -0.173242
-0.943811 0.312394 0.107847 0.24186
0 0 0 1
Cam transform:
-0.505514 -0.28428 -0.814641 1.0135
-0.0235831 0.948363 -0.31631 0.0714151
0.862496 -0.140688 -0.486115 0.385871
0 0 0 1
[ INFO] [1487823217.771978101]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.342398vs Cam:0.342725
EE transform:
0.46462 0.88284 0.0687151 0.432093
0.0525137 0.0499925 -0.997368 -0.31921
-0.883951 0.467006 -0.0231337 0.178805
0 0 0 1
Cam transform:
-0.395441 -0.197478 -0.897011 0.902994
0.1456 0.950787 -0.273503 0.190431
0.906878 -0.238759 -0.347227 0.217779
0 0 0 1
[ INFO] [1487823217.779751717]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.290927vs Cam:0.272425
EE transform:
-0.153963 0.959983 0.233939 0.371358
0.0283561 0.240958 -0.970121 -0.201852
-0.98767 -0.142729 -0.06432 0.282538
0 0 0 1
Cam transform:
-0.824707 -0.238584 -0.512772 0.934864
-0.013887 0.914932 -0.403368 0.065755
0.565389 -0.32554 -0.757865 0.298794
0 0 0 1
[ INFO] [1487823217.780909865]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.190786vs Cam:0.145262
EE transform:
0.418462 0.80981 0.411214 0.593949
-0.250154 0.538016 -0.80496 -0.228291
-0.873105 0.233978 0.427717 0.285505
0 0 0 1
Cam transform:
-0.367026 -0.701436 -0.610965 0.762706
-0.197372 0.700571 -0.685743 0.0218338
0.90903 -0.131098 -0.395572 0.18397
0 0 0 1
[ INFO] [1487823217.783020404]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.217562vs Cam:0.181829
EE transform:
0.677224 0.731047 0.0832987 0.642735
-0.494061 0.535712 -0.684774 -0.252373
-0.545226 0.422591 0.723979 0.225948
0 0 0 1
Cam transform:
0.0976 -0.689456 -0.717722 0.753887
-0.346197 0.652607 -0.673983 0.0429672
0.933071 0.314254 -0.174993 0.125701
0 0 0 1
[ INFO] [1487823217.787023598]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.0645175vs Cam:0.0572455
EE transform:
0.612387 0.763326 0.205709 0.637671
0.164239 0.131689 -0.977591 -0.0885319
-0.77331 0.632449 -0.0447231 0.227536
0 0 0 1
Cam transform:
-0.174813 -0.263647 -0.948647 0.765482
0.297239 0.904399 -0.306124 -0.0875266
0.938663 -0.33549 -0.0797345 0.155072
0 0 0 1
[ INFO] [1487823217.789348311]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.166543vs Cam:0.155018
EE transform:
0.624052 0.778644 -0.0653676 0.682684
-0.40703 0.252525 -0.877814 -0.190556
-0.666998 0.574408 0.47452 0.253441
0 0 0 1
Cam transform:
-0.0156266 -0.445582 -0.895105 0.701242
-0.243935 0.869863 -0.428758 -0.000550737
0.969666 0.211647 -0.122286 0.128369
0 0 0 1
[ INFO] [1487823217.790710491]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.107402vs Cam:0.10879
EE transform:
0.643567 0.765191 0.0174386 0.712786
0.254161 -0.192161 -0.94788 -0.0317913
-0.721958 0.614456 -0.31815 0.224841
0 0 0 1
Cam transform:
-0.0989447 0.0423206 -0.994193 0.718351
0.387674 0.921796 0.000656462 -0.125335
0.916471 -0.385358 -0.107613 0.101812
0 0 0 1
[ INFO] [1487823217.791248965]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.186286vs Cam:0.167712
EE transform:
0.631684 0.773867 0.0458826 0.718126
0.351244 -0.232942 -0.906844 0.112637
-0.691089 0.588954 -0.418962 0.247451
0 0 0 1
Cam transform:
-0.11272 0.100454 -0.988536 0.722855
0.495192 0.868203 0.0317608 -0.267481
0.86144 -0.485935 -0.147608 0.126984
0 0 0 1
[ INFO] [1487823217.791729880]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.122085vs Cam:0.11748
EE transform:
0.214104 0.968786 0.124954 0.528412
0.820688 -0.109032 -0.560877 0.0474746
-0.529745 0.222634 -0.818415 0.245198
0 0 0 1
Cam transform:
-0.354624 0.433515 -0.828436 0.862123
0.85652 0.505959 -0.10188 -0.185446
0.374988 -0.745701 -0.550739 0.216721
0 0 0 1
[ INFO] [1487823217.792204483]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.115361vs Cam:0.135141
EE transform:
0.593263 0.798971 0.09841 0.633696
0.363423 -0.156741 -0.918344 -0.143423
-0.718306 0.580584 -0.383353 0.215253
0 0 0 1
Cam transform:
-0.177395 0.0416623 -0.983258 0.763908
0.501263 0.863618 -0.0538427 -0.00403508
0.846916 -0.502422 -0.174085 0.135334
0 0 0 1
[ INFO] [1487823217.792723750]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.202728vs Cam:0.135966
EE transform:
0.771397 0.281163 -0.570871 0.776923
-0.522504 -0.232209 -0.820407 0.0369184
-0.36323 0.931142 -0.0322165 0.171742
0 0 0 1
Cam transform:
0.373449 0.257277 -0.89126 0.726359
-0.31825 0.937994 0.137417 -0.182011
0.871351 0.232326 0.432172 0.0841736
0 0 0 1
[ INFO] [1487823217.793196430]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.211066vs Cam:0.192321
EE transform:
0.59232 0.312115 -0.742793 0.756832
-0.766905 -0.064235 -0.638538 -0.180032
-0.247011 0.94787 0.201315 0.198352
0 0 0 1
Cam transform:
0.35259 0.253018 -0.900923 0.686074
-0.621796 0.782826 -0.0234983 0.0204989
0.699321 0.568476 0.433343 0.0982884
0 0 0 1
[ INFO] [1487823217.793701672]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.218805vs Cam:0.188602
EE transform:
0.786341 0.439637 0.434036 0.770384
0.479322 0.00908998 -0.877592 0.0902576
-0.389767 0.89813 -0.20358 0.184675
0 0 0 1
Cam transform:
0.134203 -0.329043 -0.93473 0.728758
0.671974 0.72348 -0.158201 -0.274474
0.728313 -0.606883 0.318201 0.0945141
0 0 0 1
[ INFO] [1487823217.794194044]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.102906vs Cam:0.101342
EE transform:
0.665485 0.675559 0.317412 0.554426
0.414056 0.0197006 -0.910038 0.0117472
-0.621038 0.737043 -0.266609 0.193611
0 0 0 1
Cam transform:
-0.0879954 -0.170409 -0.981436 0.857683
0.528511 0.827159 -0.191008 -0.159951
0.844354 -0.535508 0.0172769 0.212416
0 0 0 1
[ INFO] [1487823217.794664852]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.245913vs Cam:0.226488
EE transform:
0.211806 0.9765 -0.0398361 0.468647
-0.961238 0.200787 -0.188962 -0.233015
-0.176523 0.0783153 0.981176 0.312372
0 0 0 1
Cam transform:
0.122497 -0.698436 -0.705111 0.814256
-0.912926 0.19939 -0.356104 0.0879747
0.389308 0.687336 -0.613196 0.267508
0 0 0 1
[ INFO] [1487823217.795135291]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.203669vs Cam:0.170966
EE transform:
0.621962 0.782692 -0.0235887 0.679652
-0.719302 0.559166 -0.412236 -0.231721
-0.309464 0.273363 0.910771 0.250024
0 0 0 1
Cam transform:
0.283423 -0.704145 -0.651038 0.71956
-0.592429 0.405286 -0.696255 0.0135736
0.754122 0.583029 -0.302288 0.107028
0 0 0 1
[ INFO] [1487823217.796069543]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.328268vs Cam:0.288981
EE transform:
0.67922 0.733721 0.0177239 0.632855
-0.608679 0.576631 -0.544983 -0.365025
-0.410086 0.359375 0.838259 0.221003
0 0 0 1
Cam transform:
0.295033 -0.721063 -0.626916 0.74937
-0.502125 0.441212 -0.743776 0.152977
0.812912 0.534228 -0.231892 0.114329
0 0 0 1
[ INFO] [1487823217.797092610]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.249251vs Cam:0.18365
EE transform:
0.812029 0.579104 -0.0724385 0.69914
0.414438 -0.65957 -0.627064 0.192743
-0.410913 0.479173 -0.775592 0.240755
0 0 0 1
Cam transform:
0.216836 0.465516 -0.858066 0.764563
0.607482 0.62371 0.491886 -0.29749
0.764165 -0.627918 -0.14755 0.144691
0 0 0 1
[ INFO] [1487823217.797597120]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.170334vs Cam:0.152798
EE transform:
0.804583 0.591943 -0.0474213 0.501879
0.229391 -0.383462 -0.894615 0.0897372
-0.547746 0.708915 -0.444314 0.268606
0 0 0 1
Cam transform:
0.131482 0.169286 -0.976757 0.852262
0.443435 0.871194 0.210682 -0.185114
0.88661 -0.460829 0.039479 0.308489
0 0 0 1
[ INFO] [1487823217.798081263]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.112103vs Cam:0.105423
EE transform:
0.0667841 0.853922 -0.516098 0.709308
-0.751424 0.383345 0.537037 -0.0759432
0.656431 0.351943 0.667259 0.304078
0 0 0 1
Cam transform:
0.59165 -0.0364445 -0.805371 0.670302
-0.730477 -0.446907 -0.516408 -0.127621
-0.341105 0.893838 -0.291034 0.152911
0 0 0 1
[ INFO] [1487823217.799011776]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.249415vs Cam:0.238847
EE transform:
-0.317105 0.928469 -0.193362 0.620601
-0.0520595 0.186536 0.981068 -0.272426
0.94696 0.321168 -0.0108159 0.351227
0 0 0 1
Cam transform:
0.442358 0.298281 -0.845782 0.660235
-0.106876 -0.918817 -0.379937 0.0909693
-0.890448 0.258462 -0.374567 0.225992
0 0 0 1
[ INFO] [1487823217.799527544]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.162403vs Cam:0.144185
EE transform:
-0.31537 0.918887 0.237041 0.661038
0.24915 -0.16085 0.955014 0.100551
0.915678 0.360242 -0.178213 0.32659
0 0 0 1
Cam transform:
0.370902 0.0925142 -0.924053 0.706948
0.15567 -0.98714 -0.0363468 -0.253602
-0.915532 -0.130366 -0.380534 0.218013
0 0 0 1
[ INFO] [1487823217.800068599]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.167866vs Cam:0.147663
EE transform:
0.0108778 0.742046 -0.67026 0.684698
-0.848225 0.361808 0.386793 -0.190969
0.529524 0.564324 0.633358 0.25176
0 0 0 1
Cam transform:
0.52301 0.0384859 -0.851457 0.699199
-0.828886 -0.209705 -0.518624 -0.00268676
-0.198515 0.977007 -0.0777775 0.143686
0 0 0 1
[ INFO] [1487823217.819585827]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.174251vs Cam:0.169405
EE transform:
0.127525 0.713096 -0.689371 0.664034
-0.98397 0.178315 0.00242873 -0.189673
0.124657 0.678011 0.724405 0.188995
0 0 0 1
Cam transform:
0.297171 -0.0324921 -0.954271 0.751153
-0.946831 0.119021 -0.298906 0.0243991
0.123291 0.99236 0.004605 0.117024
0 0 0 1
[ INFO] [1487823217.824813047]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.174251vs Cam:0.169444
EE transform:
0.127537 0.713093 -0.689371 0.664035
-0.983968 0.178331 0.00242899 -0.189672
0.124668 0.678009 0.724405 0.188996
0 0 0 1
Cam transform:
0.297921 -0.0320348 -0.954053 0.751255
-0.946797 0.117537 -0.299602 0.0244031
0.121734 0.992552 0.00468615 0.116934
0 0 0 1
[ INFO] [1487823217.832392742]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.194746vs Cam:0.169552
EE transform:
0.301047 0.820638 0.48572 0.688924
0.849563 -0.462156 0.254272 0.118761
0.433143 0.336102 -0.836315 0.178614
0 0 0 1
Cam transform:
0.338239 0.251229 -0.906906 0.795671
0.910939 -0.329279 0.248527 -0.244215
-0.236188 -0.910198 -0.340229 0.0866057
0 0 0 1
[ INFO] [1487823217.834721381]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.201437vs Cam:0.157416
EE transform:
0.36784 0.914939 0.166073 0.470847
0.898307 -0.395784 0.190785 0.0952608
0.240286 0.0790065 -0.967482 0.309837
0 0 0 1
Cam transform:
0.276986 0.543839 -0.792161 0.863331
0.958611 -0.212945 0.188995 -0.191875
-0.0659045 -0.811723 -0.580313 0.301165
0 0 0 1
[ INFO] [1487823217.837638859]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.239668vs Cam:0.218786
EE transform:
0.713634 0.676834 0.180616 0.425799
0.584897 -0.43381 -0.68535 0.0983482
-0.385516 0.594731 -0.70546 0.201296
0 0 0 1
Cam transform:
0.125093 0.264966 -0.956109 0.952171
0.729179 0.628936 0.269699 -0.172
0.672793 -0.730912 -0.114532 0.30097
0 0 0 1
[ INFO] [1487823217.837857910]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.348903vs Cam:0.289647
EE transform:
0.662312 0.605825 0.440815 0.571357
0.74147 -0.614447 -0.269586 0.290935
0.107535 0.505401 -0.856157 0.158362
0 0 0 1
Cam transform:
0.432265 0.214714 -0.875811 0.915636
0.862817 0.183809 0.470914 -0.36924
0.262094 -0.959225 -0.105805 0.190188
0 0 0 1
[ INFO] [1487823217.838023443]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.185299vs Cam:0.127593
EE transform:
0.497426 0.845774 -0.19296 0.578632
0.858999 -0.511284 -0.0266528 0.135965
-0.1212 -0.152494 -0.980845 0.309152
0 0 0 1
Cam transform:
0.171758 0.808071 -0.56349 0.820531
0.943272 0.0300799 0.330656 -0.23634
0.284143 -0.588317 -0.757064 0.212836
0 0 0 1
[ INFO] [1487823217.838208472]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.115444vs Cam:0.0644161
EE transform:
0.846406 0.512564 -0.144481 0.663868
0.117042 -0.44372 -0.88849 0.0400476
-0.519516 0.735113 -0.435559 0.196143
0 0 0 1
Cam transform:
0.209615 0.217129 -0.953371 0.78508
0.314646 0.908191 0.27602 -0.149685
0.925775 -0.357832 0.122051 0.145818
0 0 0 1
[ INFO] [1487823217.838379468]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.0920312vs Cam:0.10319
EE transform:
0.371265 0.873927 -0.313711 0.582489
-0.671523 0.0193811 -0.74073 -0.110443
-0.641264 0.485671 0.594058 0.210225
0 0 0 1
Cam transform:
0.166593 -0.0606493 -0.984159 0.78221
-0.50926 0.849387 -0.138548 -0.0283258
0.844335 0.524274 0.110615 0.162171
0 0 0 1
[ INFO] [1487823217.838597433]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.078633vs Cam:0.103478
EE transform:
-0.194412 0.897314 -0.396271 0.689605
-0.903413 -0.321179 -0.284057 -0.0355685
-0.382163 0.302772 0.873087 0.248729
0 0 0 1
Cam transform:
-0.310953 -0.3317 -0.890665 0.73046
-0.916208 0.353807 0.188106 -0.0857941
0.252729 0.874526 -0.413923 0.109739
0 0 0 1
[ INFO] [1487823217.840665238]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.140734vs Cam:0.158002
EE transform:
0.00380638 0.997935 -0.0641172 0.719795
-0.715418 -0.0420809 -0.697428 -0.115366
-0.698686 0.0485253 0.713781 0.311563
0 0 0 1
Cam transform:
-0.394316 -0.544214 -0.740504 0.669897
-0.714264 0.688504 -0.125655 -0.0479955
0.578223 0.479367 -0.660201 0.0978907
0 0 0 1
[ INFO] [1487823217.841186661]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.289567vs Cam:0.235117
EE transform:
0.160943 0.808859 -0.565548 0.692687
-0.467261 -0.442286 -0.765539 0.238203
-0.869347 0.387467 0.306765 0.264692
0 0 0 1
Cam transform:
-0.429407 0.100189 -0.897537 0.760462
-0.426432 0.853567 0.299298 -0.352083
0.796094 0.511259 -0.323804 0.14987
0 0 0 1
[ INFO] [1487823217.841759288]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.0880918vs Cam:0.0919122
EE transform:
0.701298 0.71029 -0.0605818 0.52559
0.0355382 -0.119712 -0.992172 -0.0362252
-0.711982 0.693655 -0.109196 0.245273
0 0 0 1
Cam transform:
-0.0591548 -0.0404454 -0.997429 0.830807
0.172508 0.983732 -0.0501209 -0.0909857
0.98323 -0.175029 -0.0512154 0.25544
0 0 0 1
[ INFO] [1487823217.842107514]: Hand Eye Calibration Transform Pair Added
L2Norm EE: 0.178307vs Cam:0.159159
EE transform:
0.791774 0.610124 -0.0290322 0.764747
-0.0922811 0.0725003 -0.99309 -0.0815968
-0.603804 0.788982 0.113707 0.179162
0 0 0 1
Cam transform:
0.121676 -0.217217 -0.96851 0.704562
0.0926826 0.973983 -0.206801 -0.104441
0.988233 -0.0646013 0.138643 0.0539669
0 0 0 1
# INFO: Before refinement: H_12 =
-0.962926 -0.156063 0.22004 -0.00802514
-0.176531 0.981315 -0.0765322 0.0242905
-0.203985 -0.112539 -0.972484 0.0550756
0 0 0 1
Ceres Solver Report: Iterations: 89, Initial cost: 1.367791e+01, Final cost: 6.005694e-04, Termination: CONVERGENCE
# INFO: After refinement: H_12 =
-0.980558 0.184959 0.0655414 0.00771561
0.0495028 -0.0900424 0.994707 0.0836796
0.189881 0.978613 0.0791359 -0.00867321
0 0 0 1
Result from /ee_link to /ar_marker_0:
-0.980558 0.184959 0.0655414 0.00771561
0.0495028 -0.0900424 0.994707 0.0836796
0.189881 0.978613 0.0791359 -0.00867321
0 0 0 1
Translation (x,y,z) : 0.00771561 0.0836796 -0.00867321
Rotation (w,x,y,z): -0.046193, 0.0871038, 0.672938, 0.733099
Result from /ar_marker_0 to /ee_link:
-0.980558 0.184959 0.0655414 0.00771561
0.0495028 -0.0900424 0.994707 0.0836796
0.189881 0.978613 0.0791359 -0.00867321
0 0 0 1
Inverted translation (x,y,z) : 0.00507012 0.0145954 -0.083056
Inverted rotation (w,x,y,z): -0.046193, 0.0871038, 0.672938, 0.733099
0.046193 0.0871038 0.672938 0.733099
Writing calibration to "/home/cpaxton/catkin_ws/src/handeye_calib_camodocal/launch/CalibratedTransform.yml"...
[handeye_calib_camodocal-1] process has finished cleanly
log file: /home/cpaxton/.ros/log/a829db0a-f96b-11e6-b1dd-fc4dd43dd90b/handeye_calib_camodocal-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done