From 2b644ca7758d527f7973355247e93acefc3598ef Mon Sep 17 00:00:00 2001 From: Charles Zhang Date: Thu, 5 Sep 2024 19:17:07 -0400 Subject: [PATCH 1/9] update configs --- configs/config.yaml | 4 + configs/{ => model}/rodent.yaml | 0 .../demo_stac.yaml => configs/stac/demo.yaml | 0 configs/{ => stac}/stac.yaml | 0 demos/api_usage.ipynb | 2008 +++++++++++++++-- demos/viz_usage.ipynb | 21 +- run_rodent.py | 23 +- stac_mjx/controller.py | 58 +- stac_mjx/main.py | 29 +- stac_mjx/utils.py | 16 +- 10 files changed, 1939 insertions(+), 220 deletions(-) create mode 100644 configs/config.yaml rename configs/{ => model}/rodent.yaml (100%) rename demos/demo_stac.yaml => configs/stac/demo.yaml (100%) rename configs/{ => stac}/stac.yaml (100%) diff --git a/configs/config.yaml b/configs/config.yaml new file mode 100644 index 0000000..fb4bf90 --- /dev/null +++ b/configs/config.yaml @@ -0,0 +1,4 @@ +defaults: + - stac: demo + - model: rodent + - _self_ \ No newline at end of file diff --git a/configs/rodent.yaml b/configs/model/rodent.yaml similarity index 100% rename from configs/rodent.yaml rename to configs/model/rodent.yaml diff --git a/demos/demo_stac.yaml b/configs/stac/demo.yaml similarity index 100% rename from demos/demo_stac.yaml rename to configs/stac/demo.yaml diff --git a/configs/stac.yaml b/configs/stac/stac.yaml similarity index 100% rename from configs/stac.yaml rename to configs/stac/stac.yaml diff --git a/demos/api_usage.ipynb b/demos/api_usage.ipynb index f0ea601..4ddd42d 100644 --- a/demos/api_usage.ipynb +++ b/demos/api_usage.ipynb @@ -4,7 +4,26 @@ "cell_type": "code", "execution_count": 1, "metadata": {}, - "outputs": [], + "outputs": [ + { + "ename": "RuntimeError", + "evalue": "jaxlib version 0.4.31 is newer than and incompatible with jax version 0.4.6. Please update your jax and/or jaxlib packages.", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mRuntimeError\u001b[0m Traceback (most recent call last)", + "Cell \u001b[0;32mIn[1], line 4\u001b[0m\n\u001b[1;32m 1\u001b[0m get_ipython()\u001b[38;5;241m.\u001b[39mrun_line_magic(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mload_ext\u001b[39m\u001b[38;5;124m'\u001b[39m, \u001b[38;5;124m'\u001b[39m\u001b[38;5;124mautoreload\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[1;32m 2\u001b[0m get_ipython()\u001b[38;5;241m.\u001b[39mrun_line_magic(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mautoreload\u001b[39m\u001b[38;5;124m'\u001b[39m, \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m2\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[0;32m----> 4\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mstac_mjx\u001b[39;00m \n\u001b[1;32m 5\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mpathlib\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Path\n\u001b[1;32m 7\u001b[0m \u001b[38;5;66;03m# Choose parent directory as base path for data files\u001b[39;00m\n", + "File \u001b[0;32m~/GitHub/stac-mjx/stac_mjx/__init__.py:3\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[38;5;124;03m\"\"\"This module exposes all high level APIs for stac-mjx.\"\"\"\u001b[39;00m\n\u001b[0;32m----> 3\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mstac_mjx\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mutils\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m enable_xla_flags, load_data\n\u001b[1;32m 4\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mstac_mjx\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mmain\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m load_configs, run_stac\n\u001b[1;32m 5\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mstac_mjx\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mviz\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m viz_stac\n", + "File \u001b[0;32m~/GitHub/stac-mjx/stac_mjx/utils.py:5\u001b[0m\n\u001b[1;32m 3\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mos\u001b[39;00m\n\u001b[1;32m 4\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mnumpy\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mnp\u001b[39;00m\n\u001b[0;32m----> 5\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m numpy \u001b[38;5;28;01mas\u001b[39;00m jnp\n\u001b[1;32m 6\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01myaml\u001b[39;00m\n\u001b[1;32m 7\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mscipy\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mio\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mspio\u001b[39;00m\n", + "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/__init__.py:35\u001b[0m\n\u001b[1;32m 30\u001b[0m \u001b[38;5;28;01mdel\u001b[39;00m _cloud_tpu_init\n\u001b[1;32m 32\u001b[0m \u001b[38;5;66;03m# Confusingly there are two things named \"config\": the module and the class.\u001b[39;00m\n\u001b[1;32m 33\u001b[0m \u001b[38;5;66;03m# We want the exported object to be the class, so we first import the module\u001b[39;00m\n\u001b[1;32m 34\u001b[0m \u001b[38;5;66;03m# to make sure a later import doesn't overwrite the class.\u001b[39;00m\n\u001b[0;32m---> 35\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m config \u001b[38;5;28;01mas\u001b[39;00m _config_module\n\u001b[1;32m 36\u001b[0m \u001b[38;5;28;01mdel\u001b[39;00m _config_module\n\u001b[1;32m 38\u001b[0m \u001b[38;5;66;03m# Force early import, allowing use of `jax.core` after importing `jax`.\u001b[39;00m\n", + "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/config.py:17\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[38;5;66;03m# Copyright 2018 The JAX Authors.\u001b[39;00m\n\u001b[1;32m 2\u001b[0m \u001b[38;5;66;03m#\u001b[39;00m\n\u001b[1;32m 3\u001b[0m \u001b[38;5;66;03m# Licensed under the Apache License, Version 2.0 (the \"License\");\u001b[39;00m\n\u001b[0;32m (...)\u001b[0m\n\u001b[1;32m 14\u001b[0m \n\u001b[1;32m 15\u001b[0m \u001b[38;5;66;03m# TODO(phawkins): fix users of this alias and delete this file.\u001b[39;00m\n\u001b[0;32m---> 17\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_src\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mconfig\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m config \u001b[38;5;66;03m# noqa: F401\u001b[39;00m\n", + "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/_src/config.py:25\u001b[0m\n\u001b[1;32m 22\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mwarnings\u001b[39;00m\n\u001b[1;32m 23\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mtyping\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Any, List, Callable, Hashable, NamedTuple, Iterator, Optional\n\u001b[0;32m---> 25\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_src\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m lib\n\u001b[1;32m 26\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_src\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mlib\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m jax_jit\n\u001b[1;32m 27\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_src\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mlib\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m transfer_guard_lib\n", + "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/_src/lib/__init__.py:74\u001b[0m\n\u001b[1;32m 71\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m _jaxlib_version\n\u001b[1;32m 73\u001b[0m version_str \u001b[38;5;241m=\u001b[39m jaxlib\u001b[38;5;241m.\u001b[39mversion\u001b[38;5;241m.\u001b[39m__version__\n\u001b[0;32m---> 74\u001b[0m version \u001b[38;5;241m=\u001b[39m \u001b[43mcheck_jaxlib_version\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m 75\u001b[0m \u001b[43m \u001b[49m\u001b[43mjax_version\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mjax\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mversion\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m__version__\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m 76\u001b[0m \u001b[43m \u001b[49m\u001b[43mjaxlib_version\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mjaxlib\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mversion\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m__version__\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m 77\u001b[0m \u001b[43m \u001b[49m\u001b[43mminimum_jaxlib_version\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mjax\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mversion\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_minimum_jaxlib_version\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 81\u001b[0m \u001b[38;5;66;03m# Before importing any C compiled modules from jaxlib, first import the CPU\u001b[39;00m\n\u001b[1;32m 82\u001b[0m \u001b[38;5;66;03m# feature guard module to verify that jaxlib was compiled in a way that only\u001b[39;00m\n\u001b[1;32m 83\u001b[0m \u001b[38;5;66;03m# uses instructions that are present on this machine.\u001b[39;00m\n\u001b[1;32m 84\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mjaxlib\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mcpu_feature_guard\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mcpu_feature_guard\u001b[39;00m\n", + "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/_src/lib/__init__.py:69\u001b[0m, in \u001b[0;36mcheck_jaxlib_version\u001b[0;34m(jax_version, jaxlib_version, minimum_jaxlib_version)\u001b[0m\n\u001b[1;32m 65\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m _jaxlib_version \u001b[38;5;241m>\u001b[39m _jax_version:\n\u001b[1;32m 66\u001b[0m msg \u001b[38;5;241m=\u001b[39m (\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mjaxlib version \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mjaxlib_version\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m is newer than and \u001b[39m\u001b[38;5;124m'\u001b[39m\n\u001b[1;32m 67\u001b[0m \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mincompatible with jax version \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mjax_version\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m. Please \u001b[39m\u001b[38;5;124m'\u001b[39m\n\u001b[1;32m 68\u001b[0m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124mupdate your jax and/or jaxlib packages.\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[0;32m---> 69\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mRuntimeError\u001b[39;00m(msg)\n\u001b[1;32m 71\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m _jaxlib_version\n", + "\u001b[0;31mRuntimeError\u001b[0m: jaxlib version 0.4.31 is newer than and incompatible with jax version 0.4.6. Please update your jax and/or jaxlib packages." + ] + } + ], "source": [ "%load_ext autoreload\n", "%autoreload 2\n", @@ -12,10 +31,8 @@ "import stac_mjx \n", "from pathlib import Path\n", " \n", - "# Choose parent directory as base path to make relative pathing easier \n", - "base_path = Path.cwd().parent\n", - "stac_config_path = base_path / \"demos/demo_stac.yaml\"\n", - "model_config_path = base_path / \"configs/rodent.yaml\"" + "# Choose parent directory as base path for data files\n", + "base_path = Path.cwd().parent" ] }, { @@ -29,9 +46,35 @@ "cell_type": "code", "execution_count": 2, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/Users/charleszhang/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/stac_mjx/main.py:28: UserWarning: \n", + "The version_base parameter is not specified.\n", + "Please specify a compatability version level, or None.\n", + "Will assume defaults for version 1.1\n", + " with hydra.initialize(config_path=base_path / \"configs\"):\n" + ] + }, + { + "ename": "HydraException", + "evalue": "config_path in initialize() must be relative", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mHydraException\u001b[0m Traceback (most recent call last)", + "Cell \u001b[0;32mIn[2], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m cfg \u001b[38;5;241m=\u001b[39m \u001b[43mstac_mjx\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mload_configs\u001b[49m\u001b[43m(\u001b[49m\u001b[43mbase_path\u001b[49m\u001b[43m)\u001b[49m\n", + "File \u001b[0;32m~/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/stac_mjx/main.py:28\u001b[0m, in \u001b[0;36mload_configs\u001b[0;34m(base_path)\u001b[0m\n\u001b[1;32m 18\u001b[0m \u001b[38;5;250m\u001b[39m\u001b[38;5;124;03m\"\"\"Initializes configs.\u001b[39;00m\n\u001b[1;32m 19\u001b[0m \n\u001b[1;32m 20\u001b[0m \u001b[38;5;124;03mArgs:\u001b[39;00m\n\u001b[0;32m (...)\u001b[0m\n\u001b[1;32m 25\u001b[0m \u001b[38;5;124;03m DictConfig: stac.yaml config to use in run_stac()\u001b[39;00m\n\u001b[1;32m 26\u001b[0m \u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m 27\u001b[0m \u001b[38;5;66;03m# Initialize Hydra and set the config path\u001b[39;00m\n\u001b[0;32m---> 28\u001b[0m \u001b[38;5;28;01mwith\u001b[39;00m \u001b[43mhydra\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43minitialize\u001b[49m\u001b[43m(\u001b[49m\u001b[43mconfig_path\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mbase_path\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m/\u001b[39;49m\u001b[43m \u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mconfigs\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m)\u001b[49m:\n\u001b[1;32m 29\u001b[0m \u001b[38;5;66;03m# Compose the configuration by specifying the config name\u001b[39;00m\n\u001b[1;32m 30\u001b[0m cfg \u001b[38;5;241m=\u001b[39m hydra\u001b[38;5;241m.\u001b[39mcompose(config_name\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mconfig\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[1;32m 31\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m cfg\n", + "File \u001b[0;32m~/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/hydra/initialize.py:82\u001b[0m, in \u001b[0;36minitialize.__init__\u001b[0;34m(self, config_path, job_name, caller_stack_depth, version_base)\u001b[0m\n\u001b[1;32m 79\u001b[0m config_path \u001b[38;5;241m=\u001b[39m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m.\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m 81\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m config_path \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m \u001b[38;5;129;01mand\u001b[39;00m os\u001b[38;5;241m.\u001b[39mpath\u001b[38;5;241m.\u001b[39misabs(config_path):\n\u001b[0;32m---> 82\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m HydraException(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mconfig_path in initialize() must be relative\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[1;32m 83\u001b[0m calling_file, calling_module \u001b[38;5;241m=\u001b[39m detect_calling_file_or_module_from_stack_frame(\n\u001b[1;32m 84\u001b[0m caller_stack_depth \u001b[38;5;241m+\u001b[39m \u001b[38;5;241m1\u001b[39m\n\u001b[1;32m 85\u001b[0m )\n\u001b[1;32m 86\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m job_name \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n", + "\u001b[0;31mHydraException\u001b[0m: config_path in initialize() must be relative" + ] + } + ], "source": [ - "stac_cfg, model_cfg = stac_mjx.load_configs(stac_config_path, model_config_path)" + "# Hydra requires relative pathing to config file\n", + "cfg = stac_mjx.load_configs(\"../configs\")" ] }, { @@ -47,8 +90,8 @@ "metadata": {}, "outputs": [], "source": [ - "data_path = base_path / stac_cfg.data_path \n", - "kp_data, sorted_kp_names = stac_mjx.load_data(data_path, model_cfg)" + "# data_path = base_path / cfg.stac.data_path \n", + "kp_data, sorted_kp_names = stac_mjx.load_data(cfg, base_path)" ] }, { @@ -67,64 +110,301 @@ "name": "stdout", "output_type": "stream", "text": [ - "Root Optimization:\n" + "Root Optimization:\n", + "opt done in 93.23267483711243\n", + "replace done in 48.88851499557495\n", + "Root opt finished in 142.12279200553894 at iteration [361], Loss: [0.00298772]\n", + "Calibration iteration: 1/6\n", + "Pose Optimization:\n", + "Pose Optimization done in 3.4266130924224854\n", + "Frame 1 done in 0.17803096771240234 with a final error of 0.005659178365021944 after 2604 total iterations\n", + "Frame 2 done in 0.06702303886413574 with a final error of 0.005514185875654221 after 2030 total iterations\n", + "Frame 3 done in 0.05131077766418457 with a final error of 0.0054081520065665245 after 1525 total iterations\n", + "Frame 4 done in 0.04475212097167969 with a final error of 0.005398441106081009 after 1308 total iterations\n", + "Frame 5 done in 0.04319906234741211 with a final error of 0.005390129052102566 after 1267 total iterations\n", + "Frame 6 done in 0.04133892059326172 with a final error of 0.005377527326345444 after 1216 total iterations\n", + "Frame 7 done in 0.040637969970703125 with a final error of 0.0053632184863090515 after 1178 total iterations\n", + "Frame 8 done in 0.03932785987854004 with a final error of 0.005365302320569754 after 1145 total iterations\n", + "Frame 9 done in 0.038156986236572266 with a final error of 0.0053613875061273575 after 1110 total iterations\n", + "Frame 10 done in 0.03769183158874512 with a final error of 0.005358402617275715 after 1084 total iterations\n", + "Frame 11 done in 0.0352780818939209 with a final error of 0.005362068302929401 after 1003 total iterations\n", + "Frame 12 done in 0.034670114517211914 with a final error of 0.005357676185667515 after 985 total iterations\n", + "Frame 13 done in 0.03397560119628906 with a final error of 0.005358580965548754 after 956 total iterations\n", + "Frame 14 done in 0.03301405906677246 with a final error of 0.005350782070308924 after 931 total iterations\n", + "Frame 15 done in 0.03220701217651367 with a final error of 0.005347603932023048 after 904 total iterations\n", + "Frame 16 done in 0.031805992126464844 with a final error of 0.005347889382392168 after 877 total iterations\n", + "Frame 17 done in 0.030579090118408203 with a final error of 0.005345900077372789 after 848 total iterations\n", + "Frame 18 done in 0.02999711036682129 with a final error of 0.005339562892913818 after 824 total iterations\n", + "Frame 19 done in 0.030020713806152344 with a final error of 0.005336381494998932 after 798 total iterations\n", + "Frame 20 done in 0.02864694595336914 with a final error of 0.005337459035217762 after 770 total iterations\n", + "Frame 21 done in 0.02791309356689453 with a final error of 0.005332449451088905 after 749 total iterations\n", + "Frame 22 done in 0.027521848678588867 with a final error of 0.005332615226507187 after 724 total iterations\n", + "Frame 23 done in 0.02661299705505371 with a final error of 0.005334304645657539 after 703 total iterations\n", + "Frame 24 done in 0.0257871150970459 with a final error of 0.00533626414835453 after 678 total iterations\n", + "Frame 25 done in 0.02590179443359375 with a final error of 0.005329434759914875 after 654 total iterations\n", + "Frame 26 done in 0.024796009063720703 with a final error of 0.005333568900823593 after 631 total iterations\n", + "Frame 27 done in 0.024126291275024414 with a final error of 0.005326395388692617 after 613 total iterations\n", + "Frame 28 done in 0.025590896606445312 with a final error of 0.005300529766827822 after 595 total iterations\n", + "Frame 29 done in 0.02402210235595703 with a final error of 0.005238186568021774 after 574 total iterations\n", + "Frame 30 done in 0.022984981536865234 with a final error of 0.005193957127630711 after 539 total iterations\n", + "Frame 31 done in 0.02266716957092285 with a final error of 0.005160328932106495 after 529 total iterations\n", + "Frame 32 done in 0.022864103317260742 with a final error of 0.005097180604934692 after 540 total iterations\n", + "Frame 33 done in 0.023273229598999023 with a final error of 0.005084908567368984 after 554 total iterations\n", + "Frame 34 done in 0.022144079208374023 with a final error of 0.0050799851305782795 after 525 total iterations\n", + "Frame 35 done in 0.023066043853759766 with a final error of 0.005106249824166298 after 527 total iterations\n", + "Frame 36 done in 0.02196192741394043 with a final error of 0.005159669555723667 after 520 total iterations\n", + "Frame 37 done in 0.019708871841430664 with a final error of 0.005225958302617073 after 437 total iterations\n", + "Frame 38 done in 0.022166967391967773 with a final error of 0.0052153971046209335 after 516 total iterations\n", + "Frame 39 done in 0.021660327911376953 with a final error of 0.005246957764029503 after 503 total iterations\n", + "Frame 40 done in 0.02153778076171875 with a final error of 0.005277618765830994 after 490 total iterations\n", + "Frame 41 done in 0.021142959594726562 with a final error of 0.005303609184920788 after 485 total iterations\n", + "Frame 42 done in 0.021211862564086914 with a final error of 0.005331243854016066 after 484 total iterations\n", + "Frame 43 done in 0.02070021629333496 with a final error of 0.005332980304956436 after 461 total iterations\n", + "Frame 44 done in 0.019926786422729492 with a final error of 0.005343547090888023 after 448 total iterations\n", + "Frame 45 done in 0.02008223533630371 with a final error of 0.005338799208402634 after 437 total iterations\n", + "Frame 46 done in 0.01879405975341797 with a final error of 0.005337138194590807 after 410 total iterations\n", + "Frame 47 done in 0.0190279483795166 with a final error of 0.005313471425324678 after 410 total iterations\n", + "Frame 48 done in 0.018337011337280273 with a final error of 0.005290958099067211 after 397 total iterations\n", + "Frame 49 done in 0.017007112503051758 with a final error of 0.005243068560957909 after 347 total iterations\n", + "Frame 50 done in 0.009876012802124023 with a final error of 0.005499863997101784 after 107 total iterations\n", + "Frame 51 done in 0.016869068145751953 with a final error of 0.005176973063498735 after 320 total iterations\n", + "Frame 52 done in 0.009590864181518555 with a final error of 0.005430739838629961 after 98 total iterations\n", + "Frame 53 done in 0.010430097579956055 with a final error of 0.005225068889558315 after 133 total iterations\n", + "Frame 54 done in 0.013431072235107422 with a final error of 0.005224785767495632 after 242 total iterations\n", + "Frame 55 done in 0.01158595085144043 with a final error of 0.005203463137149811 after 174 total iterations\n", + "Frame 56 done in 0.0068531036376953125 with a final error of 0.005338144954293966 after 12 total iterations\n", + "Frame 57 done in 0.008808135986328125 with a final error of 0.00521177239716053 after 81 total iterations\n", + "Frame 58 done in 0.008112907409667969 with a final error of 0.00522913783788681 after 58 total iterations\n", + "Frame 59 done in 0.008678913116455078 with a final error of 0.005205105058848858 after 64 total iterations\n", + "Frame 60 done in 0.0075531005859375 with a final error of 0.0052178967744112015 after 38 total iterations\n", + "Frame 61 done in 0.00822901725769043 with a final error of 0.005209388677030802 after 52 total iterations\n", + "Frame 62 done in 0.008328914642333984 with a final error of 0.005180972628295422 after 63 total iterations\n", + "Frame 63 done in 0.008009910583496094 with a final error of 0.005199623294174671 after 52 total iterations\n", + "Frame 64 done in 0.0073108673095703125 with a final error of 0.005201578605920076 after 31 total iterations\n", + "Frame 65 done in 0.008059263229370117 with a final error of 0.005178569816052914 after 55 total iterations\n", + "Frame 66 done in 0.0074787139892578125 with a final error of 0.005181716755032539 after 34 total iterations\n", + "Frame 67 done in 0.008037090301513672 with a final error of 0.005167805124074221 after 52 total iterations\n", + "Frame 68 done in 0.007703065872192383 with a final error of 0.0051594264805316925 after 46 total iterations\n", + "Frame 69 done in 0.008107185363769531 with a final error of 0.005147850140929222 after 52 total iterations\n", + "Frame 70 done in 0.007960796356201172 with a final error of 0.005143939983099699 after 53 total iterations\n", + "Frame 71 done in 0.0073430538177490234 with a final error of 0.005141746252775192 after 28 total iterations\n", + "Frame 72 done in 0.007726192474365234 with a final error of 0.005142112262547016 after 44 total iterations\n", + "Frame 73 done in 0.008049964904785156 with a final error of 0.005132653750479221 after 50 total iterations\n", + "Frame 74 done in 0.007196903228759766 with a final error of 0.005139636807143688 after 22 total iterations\n", + "Frame 75 done in 0.007850885391235352 with a final error of 0.005127272102981806 after 48 total iterations\n", + "Frame 76 done in 0.00772404670715332 with a final error of 0.0051201507449150085 after 44 total iterations\n", + "Frame 77 done in 0.00715184211730957 with a final error of 0.005124450661242008 after 26 total iterations\n", + "Frame 78 done in 0.00726318359375 with a final error of 0.005109635181725025 after 26 total iterations\n", + "Frame 79 done in 0.0077359676361083984 with a final error of 0.00511554442346096 after 44 total iterations\n", + "Frame 80 done in 0.008906126022338867 with a final error of 0.0051092104986310005 after 81 total iterations\n", + "Frame 81 done in 0.0074689388275146484 with a final error of 0.005121727008372545 after 37 total iterations\n", + "Frame 82 done in 0.007358074188232422 with a final error of 0.005113603081554174 after 30 total iterations\n", + "Frame 83 done in 0.007402896881103516 with a final error of 0.005104627460241318 after 34 total iterations\n", + "Frame 84 done in 0.007108211517333984 with a final error of 0.005103990901261568 after 22 total iterations\n", + "Frame 85 done in 0.0074388980865478516 with a final error of 0.005094724707305431 after 34 total iterations\n", + "Frame 86 done in 0.007391929626464844 with a final error of 0.005095341242849827 after 22 total iterations\n", + "Frame 87 done in 0.007566213607788086 with a final error of 0.005102289840579033 after 26 total iterations\n", + "Frame 88 done in 0.007712125778198242 with a final error of 0.0050941696390509605 after 42 total iterations\n", + "Frame 89 done in 0.007805824279785156 with a final error of 0.005091201979666948 after 42 total iterations\n", + "Frame 90 done in 0.007726192474365234 with a final error of 0.0050810109823942184 after 42 total iterations\n", + "Frame 91 done in 0.007835149765014648 with a final error of 0.005073891952633858 after 42 total iterations\n", + "Frame 92 done in 0.00772404670715332 with a final error of 0.005059192888438702 after 42 total iterations\n", + "Frame 93 done in 0.007884979248046875 with a final error of 0.005049966741353273 after 42 total iterations\n", + "Frame 94 done in 0.007642984390258789 with a final error of 0.005043672397732735 after 42 total iterations\n", + "Frame 95 done in 0.007725954055786133 with a final error of 0.005049539729952812 after 42 total iterations\n", + "Frame 96 done in 0.00764012336730957 with a final error of 0.005087419878691435 after 42 total iterations\n", + "Frame 97 done in 0.007688999176025391 with a final error of 0.005075659602880478 after 42 total iterations\n", + "Frame 98 done in 0.007668018341064453 with a final error of 0.005067398771643639 after 42 total iterations\n", + "Frame 99 done in 0.007943868637084961 with a final error of 0.0050228969193995 after 51 total iterations\n", + "Frame 100 done in 0.009165048599243164 with a final error of 0.0050267549231648445 after 86 total iterations\n", + "Frame 101 done in 0.008082151412963867 with a final error of 0.005064161494374275 after 46 total iterations\n", + "Frame 102 done in 0.007879972457885742 with a final error of 0.005103522911667824 after 46 total iterations\n", + "Frame 103 done in 0.007433891296386719 with a final error of 0.0051096100360155106 after 30 total iterations\n", + "Frame 104 done in 0.007811069488525391 with a final error of 0.005106856115162373 after 44 total iterations\n", + "Frame 105 done in 0.00780797004699707 with a final error of 0.005061891861259937 after 42 total iterations\n", + "Frame 106 done in 0.007935047149658203 with a final error of 0.005056894384324551 after 48 total iterations\n", + "Frame 107 done in 0.007786989212036133 with a final error of 0.005030971486121416 after 42 total iterations\n", + "Frame 108 done in 0.007864952087402344 with a final error of 0.005041365511715412 after 42 total iterations\n", + "Frame 109 done in 0.007867097854614258 with a final error of 0.00504725705832243 after 44 total iterations\n", + "Frame 110 done in 0.007784128189086914 with a final error of 0.0050248014740645885 after 42 total iterations\n", + "Frame 111 done in 0.007753849029541016 with a final error of 0.005030314438045025 after 42 total iterations\n", + "Frame 112 done in 0.008088827133178711 with a final error of 0.0050146812573075294 after 44 total iterations\n", + "Frame 113 done in 0.007875204086303711 with a final error of 0.004997245967388153 after 44 total iterations\n", + "Frame 114 done in 0.007751941680908203 with a final error of 0.005006570369005203 after 38 total iterations\n", + "Frame 115 done in 0.0072481632232666016 with a final error of 0.004938715137541294 after 26 total iterations\n", + "Frame 116 done in 0.008732795715332031 with a final error of 0.004917483776807785 after 76 total iterations\n", + "Frame 117 done in 0.008130073547363281 with a final error of 0.004913007840514183 after 55 total iterations\n", + "Frame 118 done in 0.007596015930175781 with a final error of 0.004893993493169546 after 34 total iterations\n", + "Frame 119 done in 0.007962942123413086 with a final error of 0.004913837183266878 after 50 total iterations\n", + "Frame 120 done in 0.007647991180419922 with a final error of 0.004917653277516365 after 38 total iterations\n", + "Frame 121 done in 0.007757663726806641 with a final error of 0.004934565629810095 after 42 total iterations\n", + "Frame 122 done in 0.007688283920288086 with a final error of 0.004949525929987431 after 42 total iterations\n", + "Frame 123 done in 0.007765054702758789 with a final error of 0.004961003083735704 after 42 total iterations\n", + "Frame 124 done in 0.007709026336669922 with a final error of 0.005008549429476261 after 42 total iterations\n", + "Frame 125 done in 0.007802009582519531 with a final error of 0.0050530144944787025 after 42 total iterations\n", + "Frame 126 done in 0.008332014083862305 with a final error of 0.005048365797847509 after 65 total iterations\n", + "Frame 127 done in 0.008016109466552734 with a final error of 0.005035345442593098 after 42 total iterations\n", + "Frame 128 done in 0.008458137512207031 with a final error of 0.005012155044823885 after 68 total iterations\n", + "Frame 129 done in 0.0075969696044921875 with a final error of 0.004935668781399727 after 35 total iterations\n", + "Frame 130 done in 0.008741140365600586 with a final error of 0.004909705836325884 after 77 total iterations\n", + "Frame 131 done in 0.007776021957397461 with a final error of 0.004913664422929287 after 42 total iterations\n", + "Frame 132 done in 0.0076940059661865234 with a final error of 0.0049035027623176575 after 42 total iterations\n", + "Frame 133 done in 0.008088827133178711 with a final error of 0.004922414664179087 after 49 total iterations\n", + "Frame 134 done in 0.007632255554199219 with a final error of 0.004913913551717997 after 42 total iterations\n", + "Frame 135 done in 0.007870197296142578 with a final error of 0.004903747234493494 after 42 total iterations\n", + "Frame 136 done in 0.007652759552001953 with a final error of 0.004895687103271484 after 42 total iterations\n", + "Frame 137 done in 0.007771730422973633 with a final error of 0.004892733879387379 after 44 total iterations\n", + "Frame 138 done in 0.007699251174926758 with a final error of 0.004882213659584522 after 42 total iterations\n", + "Frame 139 done in 0.00778508186340332 with a final error of 0.004890035837888718 after 42 total iterations\n", + "Frame 140 done in 0.007928848266601562 with a final error of 0.004899370018392801 after 42 total iterations\n", + "Frame 141 done in 0.007735013961791992 with a final error of 0.004904627799987793 after 44 total iterations\n", + "Frame 142 done in 0.00787806510925293 with a final error of 0.004921765066683292 after 44 total iterations\n", + "Frame 143 done in 0.007864952087402344 with a final error of 0.004907007794827223 after 48 total iterations\n", + "Frame 144 done in 0.00793004035949707 with a final error of 0.004904406610876322 after 47 total iterations\n", + "Frame 145 done in 0.007841110229492188 with a final error of 0.00495124701410532 after 48 total iterations\n", + "Frame 146 done in 0.007798671722412109 with a final error of 0.0049765994772315025 after 42 total iterations\n", + "Frame 147 done in 0.007688283920288086 with a final error of 0.004999849013984203 after 42 total iterations\n", + "Frame 148 done in 0.008043050765991211 with a final error of 0.005057950504124165 after 53 total iterations\n", + "Frame 149 done in 0.008165836334228516 with a final error of 0.005085901357233524 after 58 total iterations\n", + "Frame 150 done in 0.007790088653564453 with a final error of 0.005083623342216015 after 44 total iterations\n", + "Frame 151 done in 0.007657051086425781 with a final error of 0.005076937843114138 after 42 total iterations\n", + "Frame 152 done in 0.007838964462280273 with a final error of 0.005065539386123419 after 42 total iterations\n", + "Frame 153 done in 0.007960081100463867 with a final error of 0.005053671542555094 after 44 total iterations\n", + "Frame 154 done in 0.0077779293060302734 with a final error of 0.0050442093051970005 after 42 total iterations\n", + "Frame 155 done in 0.007725954055786133 with a final error of 0.0050430903211236 after 44 total iterations\n", + "Frame 156 done in 0.008037328720092773 with a final error of 0.005042620934545994 after 53 total iterations\n", + "Frame 157 done in 0.007730722427368164 with a final error of 0.005043752491474152 after 44 total iterations\n", + "Frame 158 done in 0.007706880569458008 with a final error of 0.005055427551269531 after 44 total iterations\n", + "Frame 159 done in 0.0077702999114990234 with a final error of 0.005049987696111202 after 44 total iterations\n", + "Frame 160 done in 0.007677793502807617 with a final error of 0.005012170877307653 after 42 total iterations\n", + "Frame 161 done in 0.007932901382446289 with a final error of 0.0050613535568118095 after 48 total iterations\n", + "Frame 162 done in 0.0077931880950927734 with a final error of 0.005090201273560524 after 42 total iterations\n", + "Frame 163 done in 0.008045673370361328 with a final error of 0.005060377065092325 after 53 total iterations\n", + "Frame 164 done in 0.007720947265625 with a final error of 0.005066771060228348 after 42 total iterations\n", + "Frame 165 done in 0.00826120376586914 with a final error of 0.005099881906062365 after 48 total iterations\n", + "Frame 166 done in 0.007593870162963867 with a final error of 0.005084276665002108 after 40 total iterations\n", + "Frame 167 done in 0.007706880569458008 with a final error of 0.005076812580227852 after 42 total iterations\n", + "Frame 168 done in 0.007043123245239258 with a final error of 0.005093520041555166 after 22 total iterations\n", + "Frame 169 done in 0.0074138641357421875 with a final error of 0.005093744490295649 after 34 total iterations\n", + "Frame 170 done in 0.007879018783569336 with a final error of 0.005018973723053932 after 48 total iterations\n", + "Frame 171 done in 0.008520841598510742 with a final error of 0.005069036036729813 after 42 total iterations\n", + "Frame 172 done in 0.007896184921264648 with a final error of 0.005096026696264744 after 42 total iterations\n", + "Frame 173 done in 0.008150100708007812 with a final error of 0.00509843323379755 after 50 total iterations\n", + "Frame 174 done in 0.007998943328857422 with a final error of 0.005110166966915131 after 44 total iterations\n", + "Frame 175 done in 0.008235931396484375 with a final error of 0.0051151467487216 after 54 total iterations\n", + "Frame 176 done in 0.00801396369934082 with a final error of 0.005116498097777367 after 42 total iterations\n", + "Frame 177 done in 0.007904052734375 with a final error of 0.00511751975864172 after 44 total iterations\n", + "Frame 178 done in 0.008301973342895508 with a final error of 0.005145108327269554 after 48 total iterations\n", + "Frame 179 done in 0.008179903030395508 with a final error of 0.005125370807945728 after 53 total iterations\n", + "Frame 180 done in 0.007908105850219727 with a final error of 0.0051206378266215324 after 42 total iterations\n", + "Frame 181 done in 0.00817108154296875 with a final error of 0.005113366059958935 after 54 total iterations\n", + "Frame 182 done in 0.007844924926757812 with a final error of 0.005112181417644024 after 42 total iterations\n", + "Frame 183 done in 0.007208824157714844 with a final error of 0.0051209283992648125 after 22 total iterations\n", + "Frame 184 done in 0.008101224899291992 with a final error of 0.005100274924188852 after 52 total iterations\n", + "Frame 185 done in 0.007195711135864258 with a final error of 0.005053688772022724 after 22 total iterations\n", + "Frame 186 done in 0.007871866226196289 with a final error of 0.005083834752440453 after 42 total iterations\n", + "Frame 187 done in 0.007643938064575195 with a final error of 0.0050777774304151535 after 36 total iterations\n", + "Frame 188 done in 0.007833003997802734 with a final error of 0.005055755376815796 after 42 total iterations\n", + "Frame 189 done in 0.007261991500854492 with a final error of 0.005045798607170582 after 22 total iterations\n", + "Frame 190 done in 0.009305000305175781 with a final error of 0.005091778002679348 after 92 total iterations\n", + "Frame 191 done in 0.007603883743286133 with a final error of 0.005095821339637041 after 28 total iterations\n", + "Frame 192 done in 0.007752180099487305 with a final error of 0.005081009119749069 after 34 total iterations\n", + "Frame 193 done in 0.007546901702880859 with a final error of 0.005088137462735176 after 32 total iterations\n", + "Frame 194 done in 0.0074460506439208984 with a final error of 0.005086369812488556 after 38 total iterations\n", + "Frame 195 done in 0.009857892990112305 with a final error of 0.0050928592681884766 after 22 total iterations\n", + "Frame 196 done in 0.009109020233154297 with a final error of 0.005108054727315903 after 30 total iterations\n", + "Frame 197 done in 0.00916910171508789 with a final error of 0.005126395262777805 after 30 total iterations\n", + "Frame 198 done in 0.007314920425415039 with a final error of 0.005137848202139139 after 36 total iterations\n", + "Frame 199 done in 0.007428884506225586 with a final error of 0.00513904495164752 after 42 total iterations\n", + "Frame 200 done in 0.00740504264831543 with a final error of 0.005156175699084997 after 42 total iterations\n", + "Frame 201 done in 0.008729219436645508 with a final error of 0.005167298950254917 after 57 total iterations\n", + "Frame 202 done in 0.007411003112792969 with a final error of 0.005153038073331118 after 42 total iterations\n", + "Frame 203 done in 0.007607936859130859 with a final error of 0.005135965533554554 after 44 total iterations\n", + "Frame 204 done in 0.007550954818725586 with a final error of 0.005122174974530935 after 42 total iterations\n", + "Frame 205 done in 0.007506132125854492 with a final error of 0.005098010413348675 after 44 total iterations\n", + "Frame 206 done in 0.007822036743164062 with a final error of 0.005076122935861349 after 42 total iterations\n", + "Frame 207 done in 0.0075130462646484375 with a final error of 0.005068906582891941 after 44 total iterations\n", + "Frame 208 done in 0.007897138595581055 with a final error of 0.005069514736533165 after 52 total iterations\n", + "Frame 209 done in 0.007445096969604492 with a final error of 0.005063577555119991 after 42 total iterations\n", + "Frame 210 done in 0.007581949234008789 with a final error of 0.005063558928668499 after 44 total iterations\n", + "Frame 211 done in 0.00757598876953125 with a final error of 0.005069705191999674 after 48 total iterations\n", + "Frame 212 done in 0.007565021514892578 with a final error of 0.005059659481048584 after 44 total iterations\n", + "Frame 213 done in 0.00742793083190918 with a final error of 0.005032643675804138 after 42 total iterations\n", + "Frame 214 done in 0.00755000114440918 with a final error of 0.005027324892580509 after 42 total iterations\n", + "Frame 215 done in 0.007436990737915039 with a final error of 0.005043716635555029 after 42 total iterations\n", + "Frame 216 done in 0.0074579715728759766 with a final error of 0.005041925702244043 after 42 total iterations\n", + "Frame 217 done in 0.007470846176147461 with a final error of 0.005062658805400133 after 42 total iterations\n", + "Frame 218 done in 0.007099151611328125 with a final error of 0.005118595436215401 after 28 total iterations\n", + "Frame 219 done in 0.0077669620513916016 with a final error of 0.005145717412233353 after 42 total iterations\n", + "Frame 220 done in 0.007072925567626953 with a final error of 0.005156960338354111 after 28 total iterations\n", + "Frame 221 done in 0.006972312927246094 with a final error of 0.00515423808246851 after 22 total iterations\n", + "Frame 222 done in 0.007022857666015625 with a final error of 0.005167413502931595 after 26 total iterations\n", + "Frame 223 done in 0.006929159164428711 with a final error of 0.0051792399026453495 after 22 total iterations\n", + "Frame 224 done in 0.006970882415771484 with a final error of 0.005190040450543165 after 22 total iterations\n", + "Frame 225 done in 0.007399797439575195 with a final error of 0.005179873667657375 after 38 total iterations\n", + "Frame 226 done in 0.007596015930175781 with a final error of 0.0051635513082146645 after 42 total iterations\n", + "Frame 227 done in 0.007634878158569336 with a final error of 0.0051493337377905846 after 44 total iterations\n", + "Frame 228 done in 0.008315086364746094 with a final error of 0.005122290458530188 after 63 total iterations\n", + "Frame 229 done in 0.007874727249145508 with a final error of 0.0050459858030080795 after 52 total iterations\n", + "Frame 230 done in 0.008083343505859375 with a final error of 0.005030237138271332 after 46 total iterations\n", + "Frame 231 done in 0.008111000061035156 with a final error of 0.005028518848121166 after 52 total iterations\n", + "Frame 232 done in 0.007856130599975586 with a final error of 0.0050520021468400955 after 42 total iterations\n", + "Frame 233 done in 0.0076253414154052734 with a final error of 0.005047572776675224 after 42 total iterations\n", + "Frame 234 done in 0.007637977600097656 with a final error of 0.005050374194979668 after 42 total iterations\n", + "Frame 235 done in 0.007542133331298828 with a final error of 0.0050555383786559105 after 42 total iterations\n", + "Frame 236 done in 0.007589101791381836 with a final error of 0.005069114733487368 after 42 total iterations\n", + "Frame 237 done in 0.007675886154174805 with a final error of 0.005074643064290285 after 44 total iterations\n", + "Frame 238 done in 0.0069620609283447266 with a final error of 0.0050964560359716415 after 22 total iterations\n", + "Frame 239 done in 0.007573843002319336 with a final error of 0.005114346742630005 after 42 total iterations\n", + "Frame 240 done in 0.007533073425292969 with a final error of 0.005111869890242815 after 42 total iterations\n", + "Frame 241 done in 0.008428096771240234 with a final error of 0.005111792124807835 after 72 total iterations\n", + "Frame 242 done in 0.007524967193603516 with a final error of 0.005100843030959368 after 42 total iterations\n", + "Frame 243 done in 0.007613182067871094 with a final error of 0.005111007019877434 after 42 total iterations\n", + "Frame 244 done in 0.007535696029663086 with a final error of 0.005142025649547577 after 44 total iterations\n", + "Frame 245 done in 0.0076138973236083984 with a final error of 0.0050919936038553715 after 42 total iterations\n", + "Frame 246 done in 0.007860183715820312 with a final error of 0.005102409981191158 after 57 total iterations\n", + "Frame 247 done in 0.0071010589599609375 with a final error of 0.005100742913782597 after 26 total iterations\n", + "Frame 248 done in 0.008595943450927734 with a final error of 0.005076195579022169 after 30 total iterations\n", + "Frame 249 done in 0.007938861846923828 with a final error of 0.005059985443949699 after 36 total iterations\n", + "Frame 250 done in 0.008367300033569336 with a final error of 0.0050651151686906815 after 46 total iterations\n", + "Mean error: 0.005123068578541279\n", + "Standard deviation of error: 0.00013031881826464087\n", + "Mean total iters: 193.22401428222656\n", + "Standard deviation of total iters: 351.7825622558594\n", + "starting offset optimization\n", + "Begining offset optimization:\n" ] }, { "name": "stderr", "output_type": "stream", "text": [ - "2024-08-30 11:03:32.319626: E external/xla/xla/service/slow_operation_alarm.cc:65] \n", - "********************************\n", - "[Compiling module jit_q_opt] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", - "********************************\n", - "2024-08-30 11:09:27.041598: E external/xla/xla/service/slow_operation_alarm.cc:133] The operation took 7m54.725408s\n", - "\n", - "********************************\n", - "[Compiling module jit_q_opt] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", - "********************************\n" + "/Users/charleszhang/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/jaxopt/_src/optax_wrapper.py:120: DeprecationWarning: jax.tree_map is deprecated: use jax.tree.map (jax v0.4.25 or newer) or jax.tree_util.tree_map (any JAX version).\n", + " return jax.tree_map(update_fun, params, updates)\n" ] }, { "name": "stdout", "output_type": "stream", "text": [ - "q_opt 1 finished in 537.9096128940582 with an error of 0.0008740306948311627\n", - "Replace 1 finished in 43.293713092803955\n", - "starting q_opt 2\n", - "q_opt 1 finished in 0.009527206420898438 with an error of 0.0006967128720134497\n", - "Replace 2 finished in 0.0012009143829345703\n", - "Root optimization finished in 581.319226026535\n", - "Calibration iteration: 1/6\n", - "Pose Optimization:\n", - "Pose Optimization done in 0.38927412033081055\n", - "Frame 1 done in 0.0837550163269043 with a final error of 0.00022890132095199078\n", - "Frame 2 done in 0.030086994171142578 with a final error of 0.00020981981651857495\n", - "Frame 3 done in 0.03147006034851074 with a final error of 0.0001848320971475914\n", - "Frame 4 done in 0.03068375587463379 with a final error of 0.00016470930131617934\n", - "Frame 5 done in 0.03792881965637207 with a final error of 0.00014780914352741092\n", - "Frame 6 done in 0.03120589256286621 with a final error of 0.00013331846275832504\n", - "Frame 7 done in 0.030972003936767578 with a final error of 0.00012161406630184501\n", - "Frame 8 done in 0.030621767044067383 with a final error of 0.00010930538701359183\n", - "Frame 9 done in 0.011601924896240234 with a final error of 0.00010728859342634678\n", - "Frame 10 done in 0.02984023094177246 with a final error of 5.7451619795756415e-05\n", - "Flattened array shape: (10,)\n", - "Mean: 0.00014650498633272946\n", - "Standard deviation: 4.923989035887644e-05\n", - "starting offset optimization\n", - "Begining offset optimization:\n" + "Final error of Tracedwith with\n", + " val = Tracedwith\n", + " batch_dim = 0\n", + "offset optimization finished in 10.241055965423584\n" ] }, { "name": "stderr", "output_type": "stream", "text": [ - "/Users/charleszhang/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/jaxopt/_src/optax_wrapper.py:120: DeprecationWarning: jax.tree_map is deprecated: use jax.tree.map (jax v0.4.25 or newer) or jax.tree_util.tree_map (any JAX version).\n", - " return jax.tree_map(update_fun, params, updates)\n", - "2024-08-30 11:13:15.705373: E external/xla/xla/service/slow_operation_alarm.cc:133] The operation took 2m36.494428s\n", + "2024-09-02 14:06:42.632280: E external/xla/xla/service/slow_operation_alarm.cc:65] \n", + "********************************\n", + "[Compiling module jit_offset_optimization] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", + "********************************\n", + "2024-09-02 14:12:41.744427: E external/xla/xla/service/slow_operation_alarm.cc:133] The operation took 7m59.115926s\n", "\n", "********************************\n", - "[Compiling module jit_m_opt] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", + "[Compiling module jit_offset_optimization] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", "********************************\n" ] }, @@ -132,131 +412,1559 @@ "name": "stdout", "output_type": "stream", "text": [ - "Final error of 0.0008380845538340509\n", - "offset optimization finished in 184.03985404968262\n", "Calibration iteration: 2/6\n", "Pose Optimization:\n", - "Pose Optimization done in 0.2900989055633545\n", - "Frame 1 done in 0.03162431716918945 with a final error of 1.1411078958190046e-05\n", - "Frame 2 done in 0.02774977684020996 with a final error of 6.909502189955674e-06\n", - "Frame 3 done in 0.02774786949157715 with a final error of 1.1457681466708891e-05\n", - "Frame 4 done in 0.026777029037475586 with a final error of 6.175150247145211e-06\n", - "Frame 5 done in 0.026341915130615234 with a final error of 1.9860350221279077e-05\n", - "Frame 6 done in 0.0265352725982666 with a final error of 7.791326424921863e-06\n", - "Frame 7 done in 0.027483701705932617 with a final error of 1.2964310371899046e-05\n", - "Frame 8 done in 0.029125690460205078 with a final error of 5.7540546549716964e-06\n", - "Frame 9 done in 0.03620123863220215 with a final error of 8.202971002901904e-06\n", - "Frame 10 done in 0.02993917465209961 with a final error of 8.9601426225272e-06\n", - "Flattened array shape: (10,)\n", - "Mean: 9.948656952474266e-06\n", - "Standard deviation: 4.018716481368756e-06\n", + "Pose Optimization done in 2.2158567905426025\n", + "Frame 1 done in 0.0550692081451416 with a final error of 0.0004270477220416069 after 1394 total iterations\n", + "Frame 2 done in 0.0218660831451416 with a final error of 0.0003349890757817775 after 423 total iterations\n", + "Frame 3 done in 0.014807701110839844 with a final error of 0.0003060190938413143 after 207 total iterations\n", + "Frame 4 done in 0.00894021987915039 with a final error of 0.0004179497482255101 after 58 total iterations\n", + "Frame 5 done in 0.008651018142700195 with a final error of 0.00032195920357480645 after 58 total iterations\n", + "Frame 6 done in 0.008121013641357422 with a final error of 0.00030438206158578396 after 43 total iterations\n", + "Frame 7 done in 0.008421897888183594 with a final error of 0.00030490357312373817 after 54 total iterations\n", + "Frame 8 done in 0.008800983428955078 with a final error of 0.00029276375425979495 after 61 total iterations\n", + "Frame 9 done in 0.008367776870727539 with a final error of 0.0002804826945066452 after 46 total iterations\n", + "Frame 10 done in 0.008177995681762695 with a final error of 0.0002776140463538468 after 42 total iterations\n", + "Frame 11 done in 0.010174989700317383 with a final error of 0.00027034274535253644 after 42 total iterations\n", + "Frame 12 done in 0.008605003356933594 with a final error of 0.00027413113275542855 after 46 total iterations\n", + "Frame 13 done in 0.00854802131652832 with a final error of 0.000259468361036852 after 42 total iterations\n", + "Frame 14 done in 0.008550882339477539 with a final error of 0.00025570185971446335 after 42 total iterations\n", + "Frame 15 done in 0.009238004684448242 with a final error of 0.0002518875990062952 after 42 total iterations\n", + "Frame 16 done in 0.009788751602172852 with a final error of 0.0002599877188913524 after 50 total iterations\n", + "Frame 17 done in 0.011088848114013672 with a final error of 0.0002477381203789264 after 44 total iterations\n", + "Frame 18 done in 0.0127410888671875 with a final error of 0.00024949584621936083 after 55 total iterations\n", + "Frame 19 done in 0.016524791717529297 with a final error of 0.0002451379259582609 after 44 total iterations\n", + "Frame 20 done in 0.015712976455688477 with a final error of 0.000261053501162678 after 50 total iterations\n", + "Frame 21 done in 0.011008024215698242 with a final error of 0.0002511588390916586 after 44 total iterations\n", + "Frame 22 done in 0.008125066757202148 with a final error of 0.00024795590434223413 after 46 total iterations\n", + "Frame 23 done in 0.009885072708129883 with a final error of 0.0002443422272335738 after 60 total iterations\n", + "Frame 24 done in 0.008090972900390625 with a final error of 0.00025774422101676464 after 50 total iterations\n", + "Frame 25 done in 0.008156776428222656 with a final error of 0.0002471399202477187 after 44 total iterations\n", + "Frame 26 done in 0.008095979690551758 with a final error of 0.0002552584046497941 after 58 total iterations\n", + "Frame 27 done in 0.007835149765014648 with a final error of 0.0002479350077919662 after 44 total iterations\n", + "Frame 28 done in 0.007730007171630859 with a final error of 0.00024849409237504005 after 42 total iterations\n", + "Frame 29 done in 0.008889198303222656 with a final error of 0.0002689262619242072 after 42 total iterations\n", + "Frame 30 done in 0.008579015731811523 with a final error of 0.0003006899496540427 after 26 total iterations\n", + "Frame 31 done in 0.009285211563110352 with a final error of 0.00030493660597130656 after 66 total iterations\n", + "Frame 32 done in 0.009341001510620117 with a final error of 0.000295000325422734 after 50 total iterations\n", + "Frame 33 done in 0.009683847427368164 with a final error of 0.0002801143564283848 after 52 total iterations\n", + "Frame 34 done in 0.009363889694213867 with a final error of 0.00028404651675373316 after 52 total iterations\n", + "Frame 35 done in 0.008674144744873047 with a final error of 0.0002756035537458956 after 63 total iterations\n", + "Frame 36 done in 0.008574962615966797 with a final error of 0.0002856321516446769 after 59 total iterations\n", + "Frame 37 done in 0.008237838745117188 with a final error of 0.00032041489612311125 after 43 total iterations\n", + "Frame 38 done in 0.008603096008300781 with a final error of 0.00033132205135188997 after 46 total iterations\n", + "Frame 39 done in 0.007883071899414062 with a final error of 0.00036663596983999014 after 34 total iterations\n", + "Frame 40 done in 0.00820612907409668 with a final error of 0.00034179026260972023 after 40 total iterations\n", + "Frame 41 done in 0.009435176849365234 with a final error of 0.000314696051646024 after 60 total iterations\n", + "Frame 42 done in 0.008590221405029297 with a final error of 0.0003118123859167099 after 30 total iterations\n", + "Frame 43 done in 0.00830698013305664 with a final error of 0.000307805894408375 after 44 total iterations\n", + "Frame 44 done in 0.008372068405151367 with a final error of 0.00030236804741434753 after 42 total iterations\n", + "Frame 45 done in 0.00793600082397461 with a final error of 0.000297585385851562 after 50 total iterations\n", + "Frame 46 done in 0.008914947509765625 with a final error of 0.0002791039296425879 after 69 total iterations\n", + "Frame 47 done in 0.007899999618530273 with a final error of 0.0002938958932645619 after 42 total iterations\n", + "Frame 48 done in 0.008249998092651367 with a final error of 0.00028681522235274315 after 34 total iterations\n", + "Frame 49 done in 0.0076830387115478516 with a final error of 0.0002795862383209169 after 38 total iterations\n", + "Frame 50 done in 0.008129119873046875 with a final error of 0.000276851758826524 after 38 total iterations\n", + "Frame 51 done in 0.007643938064575195 with a final error of 0.00028642016695812345 after 30 total iterations\n", + "Frame 52 done in 0.008881092071533203 with a final error of 0.00028090053820051253 after 38 total iterations\n", + "Frame 53 done in 0.009042978286743164 with a final error of 0.0002845408162102103 after 38 total iterations\n", + "Frame 54 done in 0.008002042770385742 with a final error of 0.00027841911651194096 after 22 total iterations\n", + "Frame 55 done in 0.009028911590576172 with a final error of 0.00026890062144957483 after 38 total iterations\n", + "Frame 56 done in 0.009200096130371094 with a final error of 0.00026581433485262096 after 38 total iterations\n", + "Frame 57 done in 0.011327981948852539 with a final error of 0.00027267661062069237 after 30 total iterations\n", + "Frame 58 done in 0.008275270462036133 with a final error of 0.0002658166631590575 after 38 total iterations\n", + "Frame 59 done in 0.007643938064575195 with a final error of 0.0002686259103938937 after 26 total iterations\n", + "Frame 60 done in 0.007527828216552734 with a final error of 0.00026649085339158773 after 22 total iterations\n", + "Frame 61 done in 0.007539987564086914 with a final error of 0.0002614949771668762 after 30 total iterations\n", + "Frame 62 done in 0.008924245834350586 with a final error of 0.0002546023461036384 after 42 total iterations\n", + "Frame 63 done in 0.008349895477294922 with a final error of 0.0002571809745859355 after 42 total iterations\n", + "Frame 64 done in 0.008514165878295898 with a final error of 0.0002560767170507461 after 42 total iterations\n", + "Frame 65 done in 0.008258819580078125 with a final error of 0.0002535758540034294 after 42 total iterations\n", + "Frame 66 done in 0.010390996932983398 with a final error of 0.0002486733428668231 after 79 total iterations\n", + "Frame 67 done in 0.008198022842407227 with a final error of 0.00025028653908520937 after 42 total iterations\n", + "Frame 68 done in 0.008425235748291016 with a final error of 0.00024485698668286204 after 52 total iterations\n", + "Frame 69 done in 0.008163928985595703 with a final error of 0.00024612934794276953 after 42 total iterations\n", + "Frame 70 done in 0.009217023849487305 with a final error of 0.0002416867937427014 after 52 total iterations\n", + "Frame 71 done in 0.008411884307861328 with a final error of 0.00024468396441079676 after 42 total iterations\n", + "Frame 72 done in 0.008849143981933594 with a final error of 0.0002402452810201794 after 57 total iterations\n", + "Frame 73 done in 0.008321762084960938 with a final error of 0.00024080651928670704 after 42 total iterations\n", + "Frame 74 done in 0.008037090301513672 with a final error of 0.00023937097284942865 after 42 total iterations\n", + "Frame 75 done in 0.008105039596557617 with a final error of 0.00023945662542246282 after 42 total iterations\n", + "Frame 76 done in 0.008767127990722656 with a final error of 0.00023618360864929855 after 47 total iterations\n", + "Frame 77 done in 0.008812904357910156 with a final error of 0.00023834645980969071 after 42 total iterations\n", + "Frame 78 done in 0.008438587188720703 with a final error of 0.00023801237693987787 after 42 total iterations\n", + "Frame 79 done in 0.008246898651123047 with a final error of 0.00023638778657186776 after 42 total iterations\n", + "Frame 80 done in 0.008294343948364258 with a final error of 0.00023624826280865818 after 42 total iterations\n", + "Frame 81 done in 0.009750604629516602 with a final error of 0.00023699639132246375 after 42 total iterations\n", + "Frame 82 done in 0.007863998413085938 with a final error of 0.00023523543495684862 after 42 total iterations\n", + "Frame 83 done in 0.007681131362915039 with a final error of 0.00023585895542055368 after 42 total iterations\n", + "Frame 84 done in 0.0077550411224365234 with a final error of 0.00023595505626872182 after 42 total iterations\n", + "Frame 85 done in 0.007508993148803711 with a final error of 0.00023732901900075376 after 42 total iterations\n", + "Frame 86 done in 0.007754087448120117 with a final error of 0.00023608902120031416 after 42 total iterations\n", + "Frame 87 done in 0.0076978206634521484 with a final error of 0.00023581527057103813 after 42 total iterations\n", + "Frame 88 done in 0.009012937545776367 with a final error of 0.00023486392456106842 after 42 total iterations\n", + "Frame 89 done in 0.008217096328735352 with a final error of 0.00023465478443540633 after 42 total iterations\n", + "Frame 90 done in 0.008388996124267578 with a final error of 0.00023651224910281599 after 42 total iterations\n", + "Frame 91 done in 0.009918928146362305 with a final error of 0.00023611568030901253 after 42 total iterations\n", + "Frame 92 done in 0.009376049041748047 with a final error of 0.00023575517116114497 after 42 total iterations\n", + "Frame 93 done in 0.0083770751953125 with a final error of 0.00023834177409298718 after 42 total iterations\n", + "Frame 94 done in 0.008311033248901367 with a final error of 0.00023836715263314545 after 42 total iterations\n", + "Frame 95 done in 0.00820016860961914 with a final error of 0.0002347258705412969 after 44 total iterations\n", + "Frame 96 done in 0.008366823196411133 with a final error of 0.0002380095247644931 after 46 total iterations\n", + "Frame 97 done in 0.010039091110229492 with a final error of 0.00021929237118456513 after 47 total iterations\n", + "Frame 98 done in 0.008118867874145508 with a final error of 0.0002131161163561046 after 46 total iterations\n", + "Frame 99 done in 0.007983922958374023 with a final error of 0.00019633176270872355 after 53 total iterations\n", + "Frame 100 done in 0.008378028869628906 with a final error of 0.0001984072441700846 after 60 total iterations\n", + "Frame 101 done in 0.007821083068847656 with a final error of 0.00019747173064388335 after 40 total iterations\n", + "Frame 102 done in 0.007766008377075195 with a final error of 0.00019346110639162362 after 42 total iterations\n", + "Frame 103 done in 0.007683277130126953 with a final error of 0.00019486711244098842 after 28 total iterations\n", + "Frame 104 done in 0.009330987930297852 with a final error of 0.00019106495892629027 after 47 total iterations\n", + "Frame 105 done in 0.00892782211303711 with a final error of 0.00018657499458640814 after 32 total iterations\n", + "Frame 106 done in 0.00931406021118164 with a final error of 0.0001819920289563015 after 32 total iterations\n", + "Frame 107 done in 0.008879899978637695 with a final error of 0.00016121385851874948 after 44 total iterations\n", + "Frame 108 done in 0.008080005645751953 with a final error of 0.00016527497791685164 after 34 total iterations\n", + "Frame 109 done in 0.008836984634399414 with a final error of 0.0001539854274597019 after 42 total iterations\n", + "Frame 110 done in 0.008368968963623047 with a final error of 0.00014780345372855663 after 42 total iterations\n", + "Frame 111 done in 0.0084991455078125 with a final error of 0.00014504459977615625 after 42 total iterations\n", + "Frame 112 done in 0.008382081985473633 with a final error of 0.00014718144666403532 after 26 total iterations\n", + "Frame 113 done in 0.009041070938110352 with a final error of 0.00013695508823730052 after 69 total iterations\n", + "Frame 114 done in 0.008928060531616211 with a final error of 0.00014689151430502534 after 64 total iterations\n", + "Frame 115 done in 0.009464025497436523 with a final error of 0.0001501614024164155 after 55 total iterations\n", + "Frame 116 done in 0.008953094482421875 with a final error of 0.0001547104329802096 after 60 total iterations\n", + "Frame 117 done in 0.008444070816040039 with a final error of 0.00017312413547188044 after 40 total iterations\n", + "Frame 118 done in 0.008378028869628906 with a final error of 0.00016755076649133116 after 59 total iterations\n", + "Frame 119 done in 0.008266925811767578 with a final error of 0.00017958524404093623 after 50 total iterations\n", + "Frame 120 done in 0.008666276931762695 with a final error of 0.00017267516523133963 after 58 total iterations\n", + "Frame 121 done in 0.008157968521118164 with a final error of 0.00017598163685761392 after 52 total iterations\n", + "Frame 122 done in 0.007481813430786133 with a final error of 0.00017822333029471338 after 34 total iterations\n", + "Frame 123 done in 0.008899211883544922 with a final error of 0.0001524132676422596 after 81 total iterations\n", + "Frame 124 done in 0.007218837738037109 with a final error of 0.00016740229330025613 after 26 total iterations\n", + "Frame 125 done in 0.007986783981323242 with a final error of 0.00015181340859271586 after 47 total iterations\n", + "Frame 126 done in 0.008037090301513672 with a final error of 0.00015188148245215416 after 42 total iterations\n", + "Frame 127 done in 0.009147882461547852 with a final error of 0.00014410786388907582 after 65 total iterations\n", + "Frame 128 done in 0.007807016372680664 with a final error of 0.00014090316835790873 after 42 total iterations\n", + "Frame 129 done in 0.00924372673034668 with a final error of 0.00012986705405637622 after 57 total iterations\n", + "Frame 130 done in 0.008266925811767578 with a final error of 0.00014230413944460452 after 26 total iterations\n", + "Frame 131 done in 0.00810384750366211 with a final error of 0.00013567192945629358 after 38 total iterations\n", + "Frame 132 done in 0.007534027099609375 with a final error of 0.00013194263738114387 after 34 total iterations\n", + "Frame 133 done in 0.00774693489074707 with a final error of 0.00013677797687705606 after 34 total iterations\n", + "Frame 134 done in 0.007544994354248047 with a final error of 0.00013480993220582604 after 26 total iterations\n", + "Frame 135 done in 0.007245063781738281 with a final error of 0.00012842439173255116 after 26 total iterations\n", + "Frame 136 done in 0.009401082992553711 with a final error of 0.00013213038619142026 after 26 total iterations\n", + "Frame 137 done in 0.008569002151489258 with a final error of 0.0001260122371604666 after 42 total iterations\n", + "Frame 138 done in 0.007700920104980469 with a final error of 0.00013061470235697925 after 22 total iterations\n", + "Frame 139 done in 0.008281230926513672 with a final error of 0.00012579764006659389 after 42 total iterations\n", + "Frame 140 done in 0.00763702392578125 with a final error of 0.00012978952145203948 after 22 total iterations\n", + "Frame 141 done in 0.00780177116394043 with a final error of 0.00012895945110358298 after 22 total iterations\n", + "Frame 142 done in 0.0074269771575927734 with a final error of 0.00012681299995165318 after 30 total iterations\n", + "Frame 143 done in 0.007097005844116211 with a final error of 0.00012690279982052743 after 22 total iterations\n", + "Frame 144 done in 0.007507801055908203 with a final error of 0.00012284124386496842 after 34 total iterations\n", + "Frame 145 done in 0.007849931716918945 with a final error of 0.00013110501458868384 after 22 total iterations\n", + "Frame 146 done in 0.007831096649169922 with a final error of 0.00013573758769780397 after 30 total iterations\n", + "Frame 147 done in 0.008891105651855469 with a final error of 0.00013457317254506052 after 42 total iterations\n", + "Frame 148 done in 0.008512735366821289 with a final error of 0.00014201385783962905 after 44 total iterations\n", + "Frame 149 done in 0.007740020751953125 with a final error of 0.0001502708182670176 after 42 total iterations\n", + "Frame 150 done in 0.008745908737182617 with a final error of 0.00016209798923227936 after 52 total iterations\n", + "Frame 151 done in 0.008745908737182617 with a final error of 0.00015893613453954458 after 42 total iterations\n", + "Frame 152 done in 0.008680105209350586 with a final error of 0.0001643036084715277 after 42 total iterations\n", + "Frame 153 done in 0.008131027221679688 with a final error of 0.0001640966220293194 after 42 total iterations\n", + "Frame 154 done in 0.008593320846557617 with a final error of 0.00016436402802355587 after 42 total iterations\n", + "Frame 155 done in 0.008141756057739258 with a final error of 0.00016374507686123252 after 42 total iterations\n", + "Frame 156 done in 0.008801937103271484 with a final error of 0.00016707880422472954 after 44 total iterations\n", + "Frame 157 done in 0.008383989334106445 with a final error of 0.00016673760546837002 after 42 total iterations\n", + "Frame 158 done in 0.008424043655395508 with a final error of 0.00016684186994098127 after 52 total iterations\n", + "Frame 159 done in 0.008581161499023438 with a final error of 0.00016887648962438107 after 54 total iterations\n", + "Frame 160 done in 0.010285139083862305 with a final error of 0.0001755372213665396 after 67 total iterations\n", + "Frame 161 done in 0.00918126106262207 with a final error of 0.00017342336650472134 after 42 total iterations\n", + "Frame 162 done in 0.008447885513305664 with a final error of 0.00017992018547374755 after 42 total iterations\n", + "Frame 163 done in 0.009595870971679688 with a final error of 0.00018598033057060093 after 42 total iterations\n", + "Frame 164 done in 0.008194923400878906 with a final error of 0.00018554768757894635 after 46 total iterations\n", + "Frame 165 done in 0.007387876510620117 with a final error of 0.00020238113938830793 after 22 total iterations\n", + "Frame 166 done in 0.0077800750732421875 with a final error of 0.0002059538383036852 after 34 total iterations\n", + "Frame 167 done in 0.007944107055664062 with a final error of 0.0002134165115421638 after 36 total iterations\n", + "Frame 168 done in 0.00850987434387207 with a final error of 0.00021977259893901646 after 42 total iterations\n", + "Frame 169 done in 0.008697271347045898 with a final error of 0.00023233598039951175 after 26 total iterations\n", + "Frame 170 done in 0.008846759796142578 with a final error of 0.00021785337594337761 after 53 total iterations\n", + "Frame 171 done in 0.010311126708984375 with a final error of 0.0002251304395031184 after 48 total iterations\n", + "Frame 172 done in 0.00948190689086914 with a final error of 0.0002381815284024924 after 52 total iterations\n", + "Frame 173 done in 0.009333372116088867 with a final error of 0.00023308499658014625 after 44 total iterations\n", + "Frame 174 done in 0.009071111679077148 with a final error of 0.000232346064876765 after 44 total iterations\n", + "Frame 175 done in 0.008311271667480469 with a final error of 0.00022327432816382498 after 42 total iterations\n", + "Frame 176 done in 0.010802984237670898 with a final error of 0.0002208805817645043 after 42 total iterations\n", + "Frame 177 done in 0.008276939392089844 with a final error of 0.00022605981212109327 after 50 total iterations\n", + "Frame 178 done in 0.008439779281616211 with a final error of 0.00021851023484487087 after 52 total iterations\n", + "Frame 179 done in 0.008965015411376953 with a final error of 0.00020232483802828938 after 44 total iterations\n", + "Frame 180 done in 0.008625030517578125 with a final error of 0.0002082927676383406 after 52 total iterations\n", + "Frame 181 done in 0.00802922248840332 with a final error of 0.0001984037080546841 after 49 total iterations\n", + "Frame 182 done in 0.008680105209350586 with a final error of 0.00019153978792019188 after 75 total iterations\n", + "Frame 183 done in 0.007855892181396484 with a final error of 0.0001955043408088386 after 42 total iterations\n", + "Frame 184 done in 0.007832050323486328 with a final error of 0.00018649116100277752 after 38 total iterations\n", + "Frame 185 done in 0.007811784744262695 with a final error of 0.00018707361596170813 after 42 total iterations\n", + "Frame 186 done in 0.008625030517578125 with a final error of 0.00017649558139964938 after 65 total iterations\n", + "Frame 187 done in 0.007788658142089844 with a final error of 0.0001853471912909299 after 34 total iterations\n", + "Frame 188 done in 0.008965253829956055 with a final error of 0.00017601544095668942 after 38 total iterations\n", + "Frame 189 done in 0.007473945617675781 with a final error of 0.00018046583863906562 after 30 total iterations\n", + "Frame 190 done in 0.008291006088256836 with a final error of 0.00018161530897486955 after 52 total iterations\n", + "Frame 191 done in 0.008183956146240234 with a final error of 0.00016924864030443132 after 42 total iterations\n", + "Frame 192 done in 0.0073087215423583984 with a final error of 0.0001809652167139575 after 22 total iterations\n", + "Frame 193 done in 0.008116006851196289 with a final error of 0.00018665409879758954 after 34 total iterations\n", + "Frame 194 done in 0.0077550411224365234 with a final error of 0.00017791078425943851 after 42 total iterations\n", + "Frame 195 done in 0.007831096649169922 with a final error of 0.00018635991727933288 after 30 total iterations\n", + "Frame 196 done in 0.008862972259521484 with a final error of 0.00019037883612327278 after 42 total iterations\n", + "Frame 197 done in 0.008625984191894531 with a final error of 0.00020054157357662916 after 42 total iterations\n", + "Frame 198 done in 0.008253097534179688 with a final error of 0.00019634033378679305 after 42 total iterations\n", + "Frame 199 done in 0.008153915405273438 with a final error of 0.00019418270676396787 after 44 total iterations\n", + "Frame 200 done in 0.00826883316040039 with a final error of 0.00018441316206008196 after 44 total iterations\n", + "Frame 201 done in 0.008710145950317383 with a final error of 0.00018062643357552588 after 42 total iterations\n", + "Frame 202 done in 0.008494853973388672 with a final error of 0.0001870840205810964 after 44 total iterations\n", + "Frame 203 done in 0.00818181037902832 with a final error of 0.00016970366414170712 after 44 total iterations\n", + "Frame 204 done in 0.007977008819580078 with a final error of 0.00016218294331338257 after 42 total iterations\n", + "Frame 205 done in 0.009062767028808594 with a final error of 0.00015428365441039205 after 42 total iterations\n", + "Frame 206 done in 0.00852513313293457 with a final error of 0.00015831564087420702 after 46 total iterations\n", + "Frame 207 done in 0.009560108184814453 with a final error of 0.00014470447786152363 after 42 total iterations\n", + "Frame 208 done in 0.008344173431396484 with a final error of 0.00015259665087796748 after 52 total iterations\n", + "Frame 209 done in 0.007901191711425781 with a final error of 0.00013927195686846972 after 44 total iterations\n", + "Frame 210 done in 0.00962209701538086 with a final error of 0.0001333187537966296 after 55 total iterations\n", + "Frame 211 done in 0.008480072021484375 with a final error of 0.0001303059107158333 after 49 total iterations\n", + "Frame 212 done in 0.008401155471801758 with a final error of 0.0001246995379915461 after 44 total iterations\n", + "Frame 213 done in 0.008136987686157227 with a final error of 0.00012137463636463508 after 44 total iterations\n", + "Frame 214 done in 0.008396148681640625 with a final error of 0.00012692619930021465 after 52 total iterations\n", + "Frame 215 done in 0.008002042770385742 with a final error of 0.0001107243078877218 after 42 total iterations\n", + "Frame 216 done in 0.00839090347290039 with a final error of 0.00010877249587792903 after 46 total iterations\n", + "Frame 217 done in 0.007962942123413086 with a final error of 0.00010858671157620847 after 42 total iterations\n", + "Frame 218 done in 0.008749961853027344 with a final error of 0.00012310173769947141 after 50 total iterations\n", + "Frame 219 done in 0.009042024612426758 with a final error of 0.00013000860053580254 after 50 total iterations\n", + "Frame 220 done in 0.008004188537597656 with a final error of 0.00012290595623198897 after 42 total iterations\n", + "Frame 221 done in 0.008791923522949219 with a final error of 0.00012300556409172714 after 46 total iterations\n", + "Frame 222 done in 0.008565187454223633 with a final error of 0.00012645815149880946 after 44 total iterations\n", + "Frame 223 done in 0.008258819580078125 with a final error of 0.0001281280565308407 after 46 total iterations\n", + "Frame 224 done in 0.009044885635375977 with a final error of 0.00013716018293052912 after 52 total iterations\n", + "Frame 225 done in 0.008465290069580078 with a final error of 0.00012673623859882355 after 47 total iterations\n", + "Frame 226 done in 0.009314775466918945 with a final error of 0.0001350872335024178 after 50 total iterations\n", + "Frame 227 done in 0.008565902709960938 with a final error of 0.00012323750706855208 after 56 total iterations\n", + "Frame 228 done in 0.00840616226196289 with a final error of 0.00012911070371046662 after 55 total iterations\n", + "Frame 229 done in 0.009735822677612305 with a final error of 0.00013077948824502528 after 48 total iterations\n", + "Frame 230 done in 0.00903010368347168 with a final error of 0.00013289356138557196 after 48 total iterations\n", + "Frame 231 done in 0.008267641067504883 with a final error of 0.00012281452654860914 after 48 total iterations\n", + "Frame 232 done in 0.008309125900268555 with a final error of 0.00012070292723365128 after 49 total iterations\n", + "Frame 233 done in 0.008343935012817383 with a final error of 0.00011895274656126276 after 47 total iterations\n", + "Frame 234 done in 0.007853984832763672 with a final error of 0.0001211038397741504 after 42 total iterations\n", + "Frame 235 done in 0.007948637008666992 with a final error of 0.000122725497931242 after 46 total iterations\n", + "Frame 236 done in 0.007832050323486328 with a final error of 0.00012701221567112952 after 42 total iterations\n", + "Frame 237 done in 0.008852005004882812 with a final error of 0.00012689203140325844 after 59 total iterations\n", + "Frame 238 done in 0.008247137069702148 with a final error of 0.00013257986574899405 after 42 total iterations\n", + "Frame 239 done in 0.007921934127807617 with a final error of 0.00013408323866315186 after 44 total iterations\n", + "Frame 240 done in 0.008310079574584961 with a final error of 0.00013643736019730568 after 44 total iterations\n", + "Frame 241 done in 0.008358240127563477 with a final error of 0.0001370172540191561 after 42 total iterations\n", + "Frame 242 done in 0.008298635482788086 with a final error of 0.00014995000674389303 after 52 total iterations\n", + "Frame 243 done in 0.008287191390991211 with a final error of 0.00014604846364818513 after 56 total iterations\n", + "Frame 244 done in 0.009054183959960938 with a final error of 0.0001513143361080438 after 50 total iterations\n", + "Frame 245 done in 0.008597850799560547 with a final error of 0.0001567105937283486 after 51 total iterations\n", + "Frame 246 done in 0.00918889045715332 with a final error of 0.0001808854576665908 after 46 total iterations\n", + "Frame 247 done in 0.009135007858276367 with a final error of 0.0001924955431604758 after 66 total iterations\n", + "Frame 248 done in 0.008878946304321289 with a final error of 0.00021974607079755515 after 61 total iterations\n", + "Frame 249 done in 0.008044004440307617 with a final error of 0.0002605695917736739 after 54 total iterations\n", + "Frame 250 done in 0.009279966354370117 with a final error of 0.00028490956174209714 after 73 total iterations\n", + "Mean error: 0.00020444543042685837\n", + "Standard deviation of error: 6.22774678049609e-05\n", + "Mean total iters: 51.932003021240234\n", + "Standard deviation of total iters: 89.51460266113281\n", "starting offset optimization\n", - "Begining offset optimization:\n", - "Final error of 0.0006915951962582767\n", - "offset optimization finished in 0.019496917724609375\n", "Calibration iteration: 3/6\n", "Pose Optimization:\n", - "Pose Optimization done in 0.2704451084136963\n", - "Frame 1 done in 0.027379989624023438 with a final error of 6.253591436689021e-06\n", - "Frame 2 done in 0.02779698371887207 with a final error of 1.4736633602296934e-05\n", - "Frame 3 done in 0.026546955108642578 with a final error of 1.872341636044439e-05\n", - "Frame 4 done in 0.02735614776611328 with a final error of 8.329601769219153e-06\n", - "Frame 5 done in 0.02629995346069336 with a final error of 3.0050676286919042e-05\n", - "Frame 6 done in 0.026232242584228516 with a final error of 1.837674790294841e-05\n", - "Frame 7 done in 0.027041912078857422 with a final error of 8.354975761903916e-06\n", - "Frame 8 done in 0.02778005599975586 with a final error of 7.354761692113243e-06\n", - "Frame 9 done in 0.027140140533447266 with a final error of 5.4347701734513976e-06\n", - "Frame 10 done in 0.026683807373046875 with a final error of 3.1100214982870966e-05\n", - "Flattened array shape: (10,)\n", - "Mean: 1.4871539860905614e-05\n", - "Standard deviation: 9.088475053431466e-06\n", + "Pose Optimization done in 2.211488962173462\n", + "Frame 1 done in 0.05872988700866699 with a final error of 0.0004068782727699727 after 1657 total iterations\n", + "Frame 2 done in 0.02249622344970703 with a final error of 0.00030790409073233604 after 465 total iterations\n", + "Frame 3 done in 0.01340794563293457 with a final error of 0.00027665597735904157 after 205 total iterations\n", + "Frame 4 done in 0.009003162384033203 with a final error of 0.0002945298911072314 after 78 total iterations\n", + "Frame 5 done in 0.009067058563232422 with a final error of 0.00026858161436393857 after 72 total iterations\n", + "Frame 6 done in 0.007866144180297852 with a final error of 0.00028035001014359295 after 38 total iterations\n", + "Frame 7 done in 0.008717060089111328 with a final error of 0.00026015553157776594 after 57 total iterations\n", + "Frame 8 done in 0.007786989212036133 with a final error of 0.0002626385830808431 after 42 total iterations\n", + "Frame 9 done in 0.00933384895324707 with a final error of 0.0002579533029347658 after 26 total iterations\n", + "Frame 10 done in 0.0073168277740478516 with a final error of 0.00026574780349619687 after 26 total iterations\n", + "Frame 11 done in 0.007317066192626953 with a final error of 0.00026183377485722303 after 22 total iterations\n", + "Frame 12 done in 0.007853984832763672 with a final error of 0.0002574142417870462 after 26 total iterations\n", + "Frame 13 done in 0.007238864898681641 with a final error of 0.0002544449525885284 after 22 total iterations\n", + "Frame 14 done in 0.007650136947631836 with a final error of 0.0002454399364069104 after 34 total iterations\n", + "Frame 15 done in 0.007812976837158203 with a final error of 0.0002471058687660843 after 22 total iterations\n", + "Frame 16 done in 0.007356882095336914 with a final error of 0.00024463338195346296 after 26 total iterations\n", + "Frame 17 done in 0.008774042129516602 with a final error of 0.00023825230891816318 after 38 total iterations\n", + "Frame 18 done in 0.008030891418457031 with a final error of 0.00023578995023854077 after 42 total iterations\n", + "Frame 19 done in 0.012138843536376953 with a final error of 0.00023412771406583488 after 42 total iterations\n", + "Frame 20 done in 0.009645938873291016 with a final error of 0.00023530368343926966 after 69 total iterations\n", + "Frame 21 done in 0.009229183197021484 with a final error of 0.00023509858874604106 after 62 total iterations\n", + "Frame 22 done in 0.00824880599975586 with a final error of 0.0002339604398002848 after 42 total iterations\n", + "Frame 23 done in 0.007897138595581055 with a final error of 0.00023418597993440926 after 42 total iterations\n", + "Frame 24 done in 0.008625030517578125 with a final error of 0.00023720395984128118 after 58 total iterations\n", + "Frame 25 done in 0.008539915084838867 with a final error of 0.00023182736185844988 after 42 total iterations\n", + "Frame 26 done in 0.008440971374511719 with a final error of 0.0002412680914858356 after 48 total iterations\n", + "Frame 27 done in 0.008473873138427734 with a final error of 0.00023306976072490215 after 42 total iterations\n", + "Frame 28 done in 0.00852203369140625 with a final error of 0.00024428029428236187 after 48 total iterations\n", + "Frame 29 done in 0.00811004638671875 with a final error of 0.00025893180281855166 after 42 total iterations\n", + "Frame 30 done in 0.010185003280639648 with a final error of 0.0003021701704710722 after 30 total iterations\n", + "Frame 31 done in 0.008280038833618164 with a final error of 0.00031110664713196456 after 30 total iterations\n", + "Frame 32 done in 0.00922703742980957 with a final error of 0.0002856534847524017 after 66 total iterations\n", + "Frame 33 done in 0.009132862091064453 with a final error of 0.0002824930415954441 after 59 total iterations\n", + "Frame 34 done in 0.009171009063720703 with a final error of 0.00028445603675208986 after 71 total iterations\n", + "Frame 35 done in 0.009294748306274414 with a final error of 0.0002412554167676717 after 85 total iterations\n", + "Frame 36 done in 0.008839845657348633 with a final error of 0.00026274059200659394 after 69 total iterations\n", + "Frame 37 done in 0.008790016174316406 with a final error of 0.00026535644428804517 after 71 total iterations\n", + "Frame 38 done in 0.00899815559387207 with a final error of 0.0002627731882967055 after 71 total iterations\n", + "Frame 39 done in 0.009521961212158203 with a final error of 0.00026503612753003836 after 54 total iterations\n", + "Frame 40 done in 0.008769035339355469 with a final error of 0.00028026988729834557 after 44 total iterations\n", + "Frame 41 done in 0.008014678955078125 with a final error of 0.0002832550962921232 after 34 total iterations\n", + "Frame 42 done in 0.009011268615722656 with a final error of 0.0002639371086843312 after 38 total iterations\n", + "Frame 43 done in 0.008075952529907227 with a final error of 0.00027123308973386884 after 22 total iterations\n", + "Frame 44 done in 0.008383989334106445 with a final error of 0.00026050570886582136 after 30 total iterations\n", + "Frame 45 done in 0.00914311408996582 with a final error of 0.000250220880843699 after 53 total iterations\n", + "Frame 46 done in 0.008656024932861328 with a final error of 0.0002438850497128442 after 42 total iterations\n", + "Frame 47 done in 0.008469104766845703 with a final error of 0.00025140345678664744 after 52 total iterations\n", + "Frame 48 done in 0.010270118713378906 with a final error of 0.0002287964744027704 after 71 total iterations\n", + "Frame 49 done in 0.007874011993408203 with a final error of 0.00023585041344631463 after 30 total iterations\n", + "Frame 50 done in 0.009048938751220703 with a final error of 0.0002336979378014803 after 48 total iterations\n", + "Frame 51 done in 0.008499860763549805 with a final error of 0.00023464279365725815 after 34 total iterations\n", + "Frame 52 done in 0.008284807205200195 with a final error of 0.0002364131505601108 after 45 total iterations\n", + "Frame 53 done in 0.009026050567626953 with a final error of 0.0002280781336594373 after 42 total iterations\n", + "Frame 54 done in 0.009160041809082031 with a final error of 0.0002275584265589714 after 45 total iterations\n", + "Frame 55 done in 0.00816202163696289 with a final error of 0.00021770477178506553 after 26 total iterations\n", + "Frame 56 done in 0.008762836456298828 with a final error of 0.00022231493494473398 after 40 total iterations\n", + "Frame 57 done in 0.008478164672851562 with a final error of 0.00022165835252963006 after 22 total iterations\n", + "Frame 58 done in 0.008534908294677734 with a final error of 0.0002158212591893971 after 42 total iterations\n", + "Frame 59 done in 0.008188962936401367 with a final error of 0.0002115897077601403 after 44 total iterations\n", + "Frame 60 done in 0.008153200149536133 with a final error of 0.00020711854449473321 after 54 total iterations\n", + "Frame 61 done in 0.00832986831665039 with a final error of 0.0002116863033734262 after 48 total iterations\n", + "Frame 62 done in 0.008005857467651367 with a final error of 0.00020831674919463694 after 52 total iterations\n", + "Frame 63 done in 0.00829315185546875 with a final error of 0.00020187385962344706 after 44 total iterations\n", + "Frame 64 done in 0.008203983306884766 with a final error of 0.0002003103436436504 after 46 total iterations\n", + "Frame 65 done in 0.008517026901245117 with a final error of 0.00019719693227671087 after 46 total iterations\n", + "Frame 66 done in 0.007987022399902344 with a final error of 0.00020570358901750296 after 52 total iterations\n", + "Frame 67 done in 0.009689092636108398 with a final error of 0.00020495221542660147 after 50 total iterations\n", + "Frame 68 done in 0.008713960647583008 with a final error of 0.00020071004109922796 after 62 total iterations\n", + "Frame 69 done in 0.009148836135864258 with a final error of 0.00019357859855517745 after 67 total iterations\n", + "Frame 70 done in 0.008769035339355469 with a final error of 0.0002001367975026369 after 52 total iterations\n", + "Frame 71 done in 0.008633852005004883 with a final error of 0.0002002757682930678 after 57 total iterations\n", + "Frame 72 done in 0.008752107620239258 with a final error of 0.00019749952480196953 after 52 total iterations\n", + "Frame 73 done in 0.008316993713378906 with a final error of 0.00019921446801163256 after 52 total iterations\n", + "Frame 74 done in 0.008659124374389648 with a final error of 0.00019738494302146137 after 59 total iterations\n", + "Frame 75 done in 0.00809788703918457 with a final error of 0.0001856108574429527 after 44 total iterations\n", + "Frame 76 done in 0.00835871696472168 with a final error of 0.0001947906712302938 after 52 total iterations\n", + "Frame 77 done in 0.00913095474243164 with a final error of 0.00019586844427976757 after 52 total iterations\n", + "Frame 78 done in 0.008806943893432617 with a final error of 0.00019700403208844364 after 52 total iterations\n", + "Frame 79 done in 0.008713960647583008 with a final error of 0.0001954898179974407 after 52 total iterations\n", + "Frame 80 done in 0.00854182243347168 with a final error of 0.0001938932982739061 after 57 total iterations\n", + "Frame 81 done in 0.008148908615112305 with a final error of 0.0001946824777405709 after 52 total iterations\n", + "Frame 82 done in 0.008465051651000977 with a final error of 0.0001924321986734867 after 57 total iterations\n", + "Frame 83 done in 0.008623838424682617 with a final error of 0.0001938737987075001 after 52 total iterations\n", + "Frame 84 done in 0.008654117584228516 with a final error of 0.00019347686611581594 after 52 total iterations\n", + "Frame 85 done in 0.00800180435180664 with a final error of 0.00019464752404019237 after 52 total iterations\n", + "Frame 86 done in 0.008974075317382812 with a final error of 0.0001940820657182485 after 57 total iterations\n", + "Frame 87 done in 0.008538961410522461 with a final error of 0.00019475104636512697 after 52 total iterations\n", + "Frame 88 done in 0.008366107940673828 with a final error of 0.0001934956235345453 after 52 total iterations\n", + "Frame 89 done in 0.008240938186645508 with a final error of 0.0001921717484947294 after 55 total iterations\n", + "Frame 90 done in 0.00882720947265625 with a final error of 0.0001933852763613686 after 62 total iterations\n", + "Frame 91 done in 0.008745908737182617 with a final error of 0.0001946225529536605 after 52 total iterations\n", + "Frame 92 done in 0.009009838104248047 with a final error of 0.00019386879284866154 after 62 total iterations\n", + "Frame 93 done in 0.008900880813598633 with a final error of 0.00019735252135433257 after 52 total iterations\n", + "Frame 94 done in 0.008960962295532227 with a final error of 0.00019400144810788333 after 67 total iterations\n", + "Frame 95 done in 0.007932901382446289 with a final error of 0.00018557811563368887 after 46 total iterations\n", + "Frame 96 done in 0.008741140365600586 with a final error of 0.00018990952230524272 after 52 total iterations\n", + "Frame 97 done in 0.008687734603881836 with a final error of 0.00017634467803873122 after 42 total iterations\n", + "Frame 98 done in 0.008579015731811523 with a final error of 0.0001785178028512746 after 60 total iterations\n", + "Frame 99 done in 0.00786900520324707 with a final error of 0.000163919641636312 after 44 total iterations\n", + "Frame 100 done in 0.008215904235839844 with a final error of 0.00015800163964740932 after 47 total iterations\n", + "Frame 101 done in 0.01019287109375 with a final error of 0.00015754236665088683 after 77 total iterations\n", + "Frame 102 done in 0.010180234909057617 with a final error of 0.00015823307330720127 after 49 total iterations\n", + "Frame 103 done in 0.007810115814208984 with a final error of 0.00016511348076164722 after 22 total iterations\n", + "Frame 104 done in 0.008984088897705078 with a final error of 0.00015033564704935998 after 38 total iterations\n", + "Frame 105 done in 0.010251998901367188 with a final error of 0.00014631144586019218 after 62 total iterations\n", + "Frame 106 done in 0.008575916290283203 with a final error of 0.0001461816136725247 after 46 total iterations\n", + "Frame 107 done in 0.00837087631225586 with a final error of 0.00013096172187943012 after 38 total iterations\n", + "Frame 108 done in 0.009170055389404297 with a final error of 0.00013721146387979388 after 55 total iterations\n", + "Frame 109 done in 0.010942935943603516 with a final error of 0.0001307152706431225 after 52 total iterations\n", + "Frame 110 done in 0.009454965591430664 with a final error of 0.00012684002285823226 after 22 total iterations\n", + "Frame 111 done in 0.008211851119995117 with a final error of 0.00012061567394994199 after 34 total iterations\n", + "Frame 112 done in 0.007904052734375 with a final error of 0.0001243928272742778 after 22 total iterations\n", + "Frame 113 done in 0.008521080017089844 with a final error of 0.00012130877439631149 after 42 total iterations\n", + "Frame 114 done in 0.008456945419311523 with a final error of 0.00013053661677986383 after 49 total iterations\n", + "Frame 115 done in 0.007606983184814453 with a final error of 0.00015531317330896854 after 26 total iterations\n", + "Frame 116 done in 0.009620904922485352 with a final error of 0.00017587901675142348 after 56 total iterations\n", + "Frame 117 done in 0.008474111557006836 with a final error of 0.00014855166955385357 after 59 total iterations\n", + "Frame 118 done in 0.009394168853759766 with a final error of 0.00014041915710549802 after 87 total iterations\n", + "Frame 119 done in 0.009209871292114258 with a final error of 0.00014121964341029525 after 62 total iterations\n", + "Frame 120 done in 0.008870840072631836 with a final error of 0.00016019403119571507 after 46 total iterations\n", + "Frame 121 done in 0.008246898651123047 with a final error of 0.00015303565305657685 after 44 total iterations\n", + "Frame 122 done in 0.007409811019897461 with a final error of 0.00016312720254063606 after 26 total iterations\n", + "Frame 123 done in 0.009119033813476562 with a final error of 0.00013330085494089872 after 86 total iterations\n", + "Frame 124 done in 0.008642196655273438 with a final error of 0.000151800864841789 after 30 total iterations\n", + "Frame 125 done in 0.008707046508789062 with a final error of 0.0001335766282863915 after 57 total iterations\n", + "Frame 126 done in 0.008234977722167969 with a final error of 0.0001424299698555842 after 22 total iterations\n", + "Frame 127 done in 0.008468151092529297 with a final error of 0.000134081463329494 after 42 total iterations\n", + "Frame 128 done in 0.00899195671081543 with a final error of 0.00012878414418082684 after 42 total iterations\n", + "Frame 129 done in 0.009219884872436523 with a final error of 0.00011932216148125008 after 52 total iterations\n", + "Frame 130 done in 0.008164167404174805 with a final error of 0.00013526689144782722 after 30 total iterations\n", + "Frame 131 done in 0.009579896926879883 with a final error of 0.00012640090426430106 after 34 total iterations\n", + "Frame 132 done in 0.007743120193481445 with a final error of 0.00013009697431698442 after 30 total iterations\n", + "Frame 133 done in 0.009967803955078125 with a final error of 0.00011501164408400655 after 91 total iterations\n", + "Frame 134 done in 0.008888006210327148 with a final error of 0.00011448594159446657 after 44 total iterations\n", + "Frame 135 done in 0.008471965789794922 with a final error of 0.00011326572712277994 after 42 total iterations\n", + "Frame 136 done in 0.008154869079589844 with a final error of 0.0001114128899644129 after 42 total iterations\n", + "Frame 137 done in 0.00797414779663086 with a final error of 0.00011098524555563927 after 42 total iterations\n", + "Frame 138 done in 0.00808405876159668 with a final error of 0.00011082434502895921 after 42 total iterations\n", + "Frame 139 done in 0.007918834686279297 with a final error of 0.00011091382475569844 after 42 total iterations\n", + "Frame 140 done in 0.00912618637084961 with a final error of 0.00011020871170330793 after 44 total iterations\n", + "Frame 141 done in 0.0077970027923583984 with a final error of 0.00010903505608439445 after 42 total iterations\n", + "Frame 142 done in 0.007996082305908203 with a final error of 0.00010681888670660555 after 42 total iterations\n", + "Frame 143 done in 0.007897138595581055 with a final error of 0.00010644430585671216 after 42 total iterations\n", + "Frame 144 done in 0.009350776672363281 with a final error of 0.000107218736957293 after 42 total iterations\n", + "Frame 145 done in 0.007915973663330078 with a final error of 0.0001085452240658924 after 42 total iterations\n", + "Frame 146 done in 0.008046865463256836 with a final error of 0.00011354516755091026 after 46 total iterations\n", + "Frame 147 done in 0.007794857025146484 with a final error of 0.0001160655083367601 after 42 total iterations\n", + "Frame 148 done in 0.008003950119018555 with a final error of 0.00012139963655499741 after 44 total iterations\n", + "Frame 149 done in 0.007646083831787109 with a final error of 0.0001291483931709081 after 42 total iterations\n", + "Frame 150 done in 0.007931947708129883 with a final error of 0.00013277314428705722 after 42 total iterations\n", + "Frame 151 done in 0.007969856262207031 with a final error of 0.00013858989404980093 after 44 total iterations\n", + "Frame 152 done in 0.008259296417236328 with a final error of 0.00015328291920013726 after 52 total iterations\n", + "Frame 153 done in 0.007793903350830078 with a final error of 0.00014220138837117702 after 44 total iterations\n", + "Frame 154 done in 0.00832509994506836 with a final error of 0.00014238060975912958 after 42 total iterations\n", + "Frame 155 done in 0.007812976837158203 with a final error of 0.00014108637697063386 after 42 total iterations\n", + "Frame 156 done in 0.009168148040771484 with a final error of 0.00014396302867680788 after 42 total iterations\n", + "Frame 157 done in 0.00800180435180664 with a final error of 0.0001429740514140576 after 44 total iterations\n", + "Frame 158 done in 0.008137226104736328 with a final error of 0.0001424432557541877 after 42 total iterations\n", + "Frame 159 done in 0.008514881134033203 with a final error of 0.0001440560445189476 after 44 total iterations\n", + "Frame 160 done in 0.009659051895141602 with a final error of 0.00015043247549328953 after 67 total iterations\n", + "Frame 161 done in 0.007925987243652344 with a final error of 0.0001475778699386865 after 42 total iterations\n", + "Frame 162 done in 0.008686065673828125 with a final error of 0.00015317299403250217 after 42 total iterations\n", + "Frame 163 done in 0.007905006408691406 with a final error of 0.00015957813593558967 after 42 total iterations\n", + "Frame 164 done in 0.008469104766845703 with a final error of 0.00015994138084352016 after 42 total iterations\n", + "Frame 165 done in 0.008404016494750977 with a final error of 0.0001700377615634352 after 30 total iterations\n", + "Frame 166 done in 0.008500099182128906 with a final error of 0.00017913797637447715 after 40 total iterations\n", + "Frame 167 done in 0.008502960205078125 with a final error of 0.00018710069707594812 after 43 total iterations\n", + "Frame 168 done in 0.009076118469238281 with a final error of 0.00019337525009177625 after 42 total iterations\n", + "Frame 169 done in 0.007925987243652344 with a final error of 0.000207090430194512 after 26 total iterations\n", + "Frame 170 done in 0.008829116821289062 with a final error of 0.00019604561384767294 after 63 total iterations\n", + "Frame 171 done in 0.008311986923217773 with a final error of 0.00020936215878464282 after 22 total iterations\n", + "Frame 172 done in 0.008298158645629883 with a final error of 0.00021307659335434437 after 28 total iterations\n", + "Frame 173 done in 0.007627725601196289 with a final error of 0.00021651935821864754 after 22 total iterations\n", + "Frame 174 done in 0.008713006973266602 with a final error of 0.0002156953269150108 after 46 total iterations\n", + "Frame 175 done in 0.008581161499023438 with a final error of 0.0002071807684842497 after 62 total iterations\n", + "Frame 176 done in 0.008764982223510742 with a final error of 0.00019545963732525706 after 44 total iterations\n", + "Frame 177 done in 0.00801706314086914 with a final error of 0.00018981689936481416 after 42 total iterations\n", + "Frame 178 done in 0.008733034133911133 with a final error of 0.00017994566587731242 after 44 total iterations\n", + "Frame 179 done in 0.009502887725830078 with a final error of 0.00017318256141152233 after 42 total iterations\n", + "Frame 180 done in 0.008085012435913086 with a final error of 0.0001703064190223813 after 42 total iterations\n", + "Frame 181 done in 0.008175849914550781 with a final error of 0.0001679117267485708 after 55 total iterations\n", + "Frame 182 done in 0.00924992561340332 with a final error of 0.00016347793280147016 after 81 total iterations\n", + "Frame 183 done in 0.008563995361328125 with a final error of 0.00016465256339870393 after 48 total iterations\n", + "Frame 184 done in 0.010162353515625 with a final error of 0.00015588803216814995 after 42 total iterations\n", + "Frame 185 done in 0.007948875427246094 with a final error of 0.0001570642489241436 after 42 total iterations\n", + "Frame 186 done in 0.008424758911132812 with a final error of 0.0001467714610043913 after 65 total iterations\n", + "Frame 187 done in 0.008746147155761719 with a final error of 0.0001467876718379557 after 80 total iterations\n", + "Frame 188 done in 0.00916600227355957 with a final error of 0.00013762552407570183 after 94 total iterations\n", + "Frame 189 done in 0.007460117340087891 with a final error of 0.00013508052506949753 after 32 total iterations\n", + "Frame 190 done in 0.007752895355224609 with a final error of 0.00014457156066782773 after 46 total iterations\n", + "Frame 191 done in 0.008030176162719727 with a final error of 0.00013345293700695038 after 42 total iterations\n", + "Frame 192 done in 0.007463932037353516 with a final error of 0.00014827358245383948 after 32 total iterations\n", + "Frame 193 done in 0.008105993270874023 with a final error of 0.00014434134936891496 after 38 total iterations\n", + "Frame 194 done in 0.007658958435058594 with a final error of 0.00015478262503165752 after 22 total iterations\n", + "Frame 195 done in 0.00796198844909668 with a final error of 0.0001562709512654692 after 42 total iterations\n", + "Frame 196 done in 0.009568929672241211 with a final error of 0.00015453547530341893 after 73 total iterations\n", + "Frame 197 done in 0.008784055709838867 with a final error of 0.00016809036605991423 after 58 total iterations\n", + "Frame 198 done in 0.008762836456298828 with a final error of 0.0001633229258004576 after 65 total iterations\n", + "Frame 199 done in 0.008791923522949219 with a final error of 0.00016588400467298925 after 46 total iterations\n", + "Frame 200 done in 0.009317874908447266 with a final error of 0.00016228405002038926 after 48 total iterations\n", + "Frame 201 done in 0.008623838424682617 with a final error of 0.0001606166479177773 after 46 total iterations\n", + "Frame 202 done in 0.008388042449951172 with a final error of 0.00015908313798718154 after 50 total iterations\n", + "Frame 203 done in 0.010359048843383789 with a final error of 0.00015170153346844018 after 46 total iterations\n", + "Frame 204 done in 0.00830388069152832 with a final error of 0.00014506532170344144 after 50 total iterations\n", + "Frame 205 done in 0.008207082748413086 with a final error of 0.00013797337305732071 after 44 total iterations\n", + "Frame 206 done in 0.008186817169189453 with a final error of 0.0001417284074705094 after 52 total iterations\n", + "Frame 207 done in 0.00916910171508789 with a final error of 0.00012800347758457065 after 46 total iterations\n", + "Frame 208 done in 0.00826406478881836 with a final error of 0.0001266718900296837 after 48 total iterations\n", + "Frame 209 done in 0.008539915084838867 with a final error of 0.00012172936840215698 after 42 total iterations\n", + "Frame 210 done in 0.008206844329833984 with a final error of 0.00011762695066863671 after 46 total iterations\n", + "Frame 211 done in 0.008704185485839844 with a final error of 0.00011286401422694325 after 54 total iterations\n", + "Frame 212 done in 0.00809788703918457 with a final error of 0.00010700100392568856 after 46 total iterations\n", + "Frame 213 done in 0.008390188217163086 with a final error of 0.00010416261648060754 after 51 total iterations\n", + "Frame 214 done in 0.009859800338745117 with a final error of 0.00010911934805335477 after 52 total iterations\n", + "Frame 215 done in 0.008026838302612305 with a final error of 9.381986455991864e-05 after 44 total iterations\n", + "Frame 216 done in 0.00825810432434082 with a final error of 0.00010044720693258569 after 52 total iterations\n", + "Frame 217 done in 0.00822901725769043 with a final error of 8.906816219678149e-05 after 42 total iterations\n", + "Frame 218 done in 0.007825851440429688 with a final error of 9.786670852918178e-05 after 22 total iterations\n", + "Frame 219 done in 0.007973194122314453 with a final error of 9.758913074620068e-05 after 42 total iterations\n", + "Frame 220 done in 0.007184028625488281 with a final error of 0.00010494801972527057 after 22 total iterations\n", + "Frame 221 done in 0.0077440738677978516 with a final error of 0.00010605403804220259 after 22 total iterations\n", + "Frame 222 done in 0.007426023483276367 with a final error of 0.00010944881796604022 after 26 total iterations\n", + "Frame 223 done in 0.008569955825805664 with a final error of 0.00010501986980671063 after 42 total iterations\n", + "Frame 224 done in 0.009198188781738281 with a final error of 0.00010287664190400392 after 42 total iterations\n", + "Frame 225 done in 0.00863194465637207 with a final error of 0.00010157737415283918 after 42 total iterations\n", + "Frame 226 done in 0.00973200798034668 with a final error of 0.00010107830166816711 after 42 total iterations\n", + "Frame 227 done in 0.008694171905517578 with a final error of 9.85210353974253e-05 after 44 total iterations\n", + "Frame 228 done in 0.008491992950439453 with a final error of 9.657035116106272e-05 after 42 total iterations\n", + "Frame 229 done in 0.009915828704833984 with a final error of 0.00010337962885387242 after 68 total iterations\n", + "Frame 230 done in 0.007837057113647461 with a final error of 9.971341933123767e-05 after 42 total iterations\n", + "Frame 231 done in 0.008810043334960938 with a final error of 9.52531408984214e-05 after 71 total iterations\n", + "Frame 232 done in 0.007897138595581055 with a final error of 9.522082837065682e-05 after 42 total iterations\n", + "Frame 233 done in 0.00860285758972168 with a final error of 9.421246068086475e-05 after 46 total iterations\n", + "Frame 234 done in 0.008454084396362305 with a final error of 9.536206198390573e-05 after 44 total iterations\n", + "Frame 235 done in 0.008108854293823242 with a final error of 9.72461566561833e-05 after 46 total iterations\n", + "Frame 236 done in 0.007915019989013672 with a final error of 0.00010008147364715114 after 46 total iterations\n", + "Frame 237 done in 0.008615970611572266 with a final error of 0.00010055228631244972 after 42 total iterations\n", + "Frame 238 done in 0.009329080581665039 with a final error of 0.00010528160055400804 after 42 total iterations\n", + "Frame 239 done in 0.008788108825683594 with a final error of 0.00010595735511742532 after 44 total iterations\n", + "Frame 240 done in 0.007976055145263672 with a final error of 0.00010803397162817419 after 42 total iterations\n", + "Frame 241 done in 0.008311033248901367 with a final error of 0.00010809856030391529 after 53 total iterations\n", + "Frame 242 done in 0.009943962097167969 with a final error of 0.00012082159810233861 after 52 total iterations\n", + "Frame 243 done in 0.008381128311157227 with a final error of 0.00011598074343055487 after 42 total iterations\n", + "Frame 244 done in 0.008756160736083984 with a final error of 0.00012103037443011999 after 42 total iterations\n", + "Frame 245 done in 0.0082550048828125 with a final error of 0.00012649898417294025 after 44 total iterations\n", + "Frame 246 done in 0.010062932968139648 with a final error of 0.0001413060526829213 after 94 total iterations\n", + "Frame 247 done in 0.0074920654296875 with a final error of 0.00015717832138761878 after 22 total iterations\n", + "Frame 248 done in 0.008157968521118164 with a final error of 0.00017982519057113677 after 50 total iterations\n", + "Frame 249 done in 0.008588075637817383 with a final error of 0.00023245385091286153 after 48 total iterations\n", + "Frame 250 done in 0.009484052658081055 with a final error of 0.0002492857165634632 after 69 total iterations\n", + "Mean error: 0.00017523787391837686\n", + "Standard deviation of error: 5.6732813391136006e-05\n", + "Mean total iters: 55.512001037597656\n", + "Standard deviation of total iters: 106.23921203613281\n", "starting offset optimization\n", - "Begining offset optimization:\n", - "Final error of 0.0006523464107885957\n", - "offset optimization finished in 0.018739938735961914\n", "Calibration iteration: 4/6\n", "Pose Optimization:\n", - "Pose Optimization done in 0.25788283348083496\n", - "Frame 1 done in 0.02761697769165039 with a final error of 2.205053715442773e-05\n", - "Frame 2 done in 0.0261688232421875 with a final error of 2.3906379283289425e-05\n", - "Frame 3 done in 0.026662111282348633 with a final error of 1.729781251924578e-05\n", - "Frame 4 done in 0.026647090911865234 with a final error of 6.905936970724724e-06\n", - "Frame 5 done in 0.02666306495666504 with a final error of 6.520999704662245e-06\n", - "Frame 6 done in 0.026068925857543945 with a final error of 1.044065265887184e-05\n", - "Frame 7 done in 0.028018951416015625 with a final error of 7.1059494075598195e-06\n", - "Frame 8 done in 0.029552936553955078 with a final error of 4.01246506953612e-06\n", - "Frame 9 done in 0.00927734375 with a final error of 8.094839358818717e-06\n", - "Frame 10 done in 0.031033754348754883 with a final error of 5.843391136295395e-06\n", - "Flattened array shape: (10,)\n", - "Mean: 1.1217895917070564e-05\n", - "Standard deviation: 6.81199071550509e-06\n", + "Pose Optimization done in 2.3269362449645996\n", + "Frame 1 done in 0.060189008712768555 with a final error of 0.0004076136974617839 after 1692 total iterations\n", + "Frame 2 done in 0.02217721939086914 with a final error of 0.0003093440318480134 after 466 total iterations\n", + "Frame 3 done in 0.014739274978637695 with a final error of 0.00027231534477323294 after 217 total iterations\n", + "Frame 4 done in 0.009111642837524414 with a final error of 0.00028634516638703644 after 74 total iterations\n", + "Frame 5 done in 0.009086847305297852 with a final error of 0.0002790559665299952 after 64 total iterations\n", + "Frame 6 done in 0.008713960647583008 with a final error of 0.0002595275000203401 after 62 total iterations\n", + "Frame 7 done in 0.008936882019042969 with a final error of 0.00026931724278256297 after 42 total iterations\n", + "Frame 8 done in 0.007889270782470703 with a final error of 0.0002668081142473966 after 28 total iterations\n", + "Frame 9 done in 0.00834202766418457 with a final error of 0.0002552283986005932 after 38 total iterations\n", + "Frame 10 done in 0.007974863052368164 with a final error of 0.00026157277170568705 after 22 total iterations\n", + "Frame 11 done in 0.00816202163696289 with a final error of 0.00025686895241960883 after 30 total iterations\n", + "Frame 12 done in 0.007953882217407227 with a final error of 0.00025309601915068924 after 22 total iterations\n", + "Frame 13 done in 0.00785207748413086 with a final error of 0.0002490288461558521 after 30 total iterations\n", + "Frame 14 done in 0.007342815399169922 with a final error of 0.0002459361858200282 after 22 total iterations\n", + "Frame 15 done in 0.007430076599121094 with a final error of 0.0002418939839117229 after 26 total iterations\n", + "Frame 16 done in 0.008366823196411133 with a final error of 0.00024017597024794668 after 22 total iterations\n", + "Frame 17 done in 0.008268117904663086 with a final error of 0.0002345539105590433 after 26 total iterations\n", + "Frame 18 done in 0.007925033569335938 with a final error of 0.00023848976707085967 after 22 total iterations\n", + "Frame 19 done in 0.008779048919677734 with a final error of 0.00023802925716154277 after 22 total iterations\n", + "Frame 20 done in 0.007857799530029297 with a final error of 0.00024643779033795 after 30 total iterations\n", + "Frame 21 done in 0.008791923522949219 with a final error of 0.00024622108321636915 after 26 total iterations\n", + "Frame 22 done in 0.007668972015380859 with a final error of 0.00024151286925189197 after 26 total iterations\n", + "Frame 23 done in 0.0077478885650634766 with a final error of 0.00024190149269998074 after 30 total iterations\n", + "Frame 24 done in 0.0077381134033203125 with a final error of 0.00024162474437616765 after 22 total iterations\n", + "Frame 25 done in 0.007598876953125 with a final error of 0.00023521625553257763 after 30 total iterations\n", + "Frame 26 done in 0.007335186004638672 with a final error of 0.0002391129673924297 after 22 total iterations\n", + "Frame 27 done in 0.009755849838256836 with a final error of 0.0002423041732981801 after 26 total iterations\n", + "Frame 28 done in 0.007266998291015625 with a final error of 0.0002428621519356966 after 22 total iterations\n", + "Frame 29 done in 0.009196996688842773 with a final error of 0.00025723743601702154 after 76 total iterations\n", + "Frame 30 done in 0.008137941360473633 with a final error of 0.00028139009373262525 after 49 total iterations\n", + "Frame 31 done in 0.008611202239990234 with a final error of 0.0002863116387743503 after 52 total iterations\n", + "Frame 32 done in 0.007858037948608398 with a final error of 0.0002724824007600546 after 42 total iterations\n", + "Frame 33 done in 0.008392810821533203 with a final error of 0.00025890651158988476 after 55 total iterations\n", + "Frame 34 done in 0.007915019989013672 with a final error of 0.00025857577566057444 after 47 total iterations\n", + "Frame 35 done in 0.008056163787841797 with a final error of 0.0002801806840579957 after 45 total iterations\n", + "Frame 36 done in 0.008913993835449219 with a final error of 0.00027663056971505284 after 47 total iterations\n", + "Frame 37 done in 0.008397102355957031 with a final error of 0.00028488555108197033 after 43 total iterations\n", + "Frame 38 done in 0.009382009506225586 with a final error of 0.0002628931833896786 after 96 total iterations\n", + "Frame 39 done in 0.009942054748535156 with a final error of 0.00024708168348297477 after 68 total iterations\n", + "Frame 40 done in 0.008260011672973633 with a final error of 0.0002517547400202602 after 59 total iterations\n", + "Frame 41 done in 0.009300947189331055 with a final error of 0.00024111550010275096 after 65 total iterations\n", + "Frame 42 done in 0.010843038558959961 with a final error of 0.0002300139603903517 after 67 total iterations\n", + "Frame 43 done in 0.008586883544921875 with a final error of 0.00023659481666982174 after 46 total iterations\n", + "Frame 44 done in 0.008330821990966797 with a final error of 0.00024050846695899963 after 46 total iterations\n", + "Frame 45 done in 0.00921773910522461 with a final error of 0.00021198212925810367 after 80 total iterations\n", + "Frame 46 done in 0.008717060089111328 with a final error of 0.0002242631744593382 after 51 total iterations\n", + "Frame 47 done in 0.008602142333984375 with a final error of 0.00022722932044416666 after 52 total iterations\n", + "Frame 48 done in 0.008423089981079102 with a final error of 0.00022161725792102516 after 34 total iterations\n", + "Frame 49 done in 0.0072939395904541016 with a final error of 0.00021715075126849115 after 22 total iterations\n", + "Frame 50 done in 0.007754087448120117 with a final error of 0.0002076260861940682 after 34 total iterations\n", + "Frame 51 done in 0.008765935897827148 with a final error of 0.00021995604038238525 after 26 total iterations\n", + "Frame 52 done in 0.00829005241394043 with a final error of 0.00021232818835414946 after 34 total iterations\n", + "Frame 53 done in 0.007693052291870117 with a final error of 0.00021897867554798722 after 26 total iterations\n", + "Frame 54 done in 0.008131027221679688 with a final error of 0.00021312685566954315 after 30 total iterations\n", + "Frame 55 done in 0.009644031524658203 with a final error of 0.0001913533196784556 after 74 total iterations\n", + "Frame 56 done in 0.008151054382324219 with a final error of 0.00019599241204559803 after 42 total iterations\n", + "Frame 57 done in 0.008423089981079102 with a final error of 0.00019177261856384575 after 56 total iterations\n", + "Frame 58 done in 0.00931406021118164 with a final error of 0.00019720607087947428 after 65 total iterations\n", + "Frame 59 done in 0.007879972457885742 with a final error of 0.00018737275968305767 after 42 total iterations\n", + "Frame 60 done in 0.009092092514038086 with a final error of 0.00019243033602833748 after 47 total iterations\n", + "Frame 61 done in 0.007643938064575195 with a final error of 0.00018148341041523963 after 26 total iterations\n", + "Frame 62 done in 0.008646965026855469 with a final error of 0.00018573150737211108 after 30 total iterations\n", + "Frame 63 done in 0.008934974670410156 with a final error of 0.00017845939146354795 after 78 total iterations\n", + "Frame 64 done in 0.008279800415039062 with a final error of 0.00017838054918684065 after 53 total iterations\n", + "Frame 65 done in 0.008005142211914062 with a final error of 0.00018562309560365975 after 48 total iterations\n", + "Frame 66 done in 0.00964212417602539 with a final error of 0.0001853967842180282 after 52 total iterations\n", + "Frame 67 done in 0.04330301284790039 with a final error of 0.00018459538114257157 after 52 total iterations\n", + "Frame 68 done in 0.018253087997436523 with a final error of 0.00018109922530129552 after 62 total iterations\n", + "Frame 69 done in 0.015548229217529297 with a final error of 0.00018112473480869085 after 48 total iterations\n", + "Frame 70 done in 0.027230024337768555 with a final error of 0.0001800417376216501 after 57 total iterations\n", + "Frame 71 done in 0.04690909385681152 with a final error of 0.00018089429067913443 after 52 total iterations\n", + "Frame 72 done in 0.013870954513549805 with a final error of 0.0001776902936398983 after 62 total iterations\n", + "Frame 73 done in 0.013472795486450195 with a final error of 0.00017797842156141996 after 48 total iterations\n", + "Frame 74 done in 0.010543107986450195 with a final error of 0.00017784986994229257 after 52 total iterations\n", + "Frame 75 done in 0.009834051132202148 with a final error of 0.00017741217743605375 after 52 total iterations\n", + "Frame 76 done in 0.012695074081420898 with a final error of 0.00017715073772706091 after 57 total iterations\n", + "Frame 77 done in 0.014528036117553711 with a final error of 0.00017740049224812537 after 52 total iterations\n", + "Frame 78 done in 0.011132001876831055 with a final error of 0.0001784365449566394 after 52 total iterations\n", + "Frame 79 done in 0.008728981018066406 with a final error of 0.00016629323363304138 after 44 total iterations\n", + "Frame 80 done in 0.008488178253173828 with a final error of 0.0001755586126819253 after 52 total iterations\n", + "Frame 81 done in 0.009618997573852539 with a final error of 0.00017636388656683266 after 52 total iterations\n", + "Frame 82 done in 0.009025812149047852 with a final error of 0.0001763203472364694 after 52 total iterations\n", + "Frame 83 done in 0.008356094360351562 with a final error of 0.0001765569904819131 after 52 total iterations\n", + "Frame 84 done in 0.009073972702026367 with a final error of 0.00017547589959576726 after 52 total iterations\n", + "Frame 85 done in 0.00989675521850586 with a final error of 0.00016998362843878567 after 67 total iterations\n", + "Frame 86 done in 0.008967161178588867 with a final error of 0.00017610051145311445 after 52 total iterations\n", + "Frame 87 done in 0.01088571548461914 with a final error of 0.00017729209503158927 after 52 total iterations\n", + "Frame 88 done in 0.009176254272460938 with a final error of 0.0001750764058670029 after 60 total iterations\n", + "Frame 89 done in 0.00911092758178711 with a final error of 0.0001754324766807258 after 52 total iterations\n", + "Frame 90 done in 0.008365869522094727 with a final error of 0.0001755307603161782 after 57 total iterations\n", + "Frame 91 done in 0.008614301681518555 with a final error of 0.00016227943706326187 after 64 total iterations\n", + "Frame 92 done in 0.00973367691040039 with a final error of 0.0001697868574410677 after 72 total iterations\n", + "Frame 93 done in 0.009016990661621094 with a final error of 0.0001649836340220645 after 58 total iterations\n", + "Frame 94 done in 0.009406089782714844 with a final error of 0.0001781877945177257 after 52 total iterations\n", + "Frame 95 done in 0.008995771408081055 with a final error of 0.0001667331380303949 after 56 total iterations\n", + "Frame 96 done in 0.008435964584350586 with a final error of 0.00016314201639033854 after 42 total iterations\n", + "Frame 97 done in 0.00882411003112793 with a final error of 0.00015611584240105003 after 62 total iterations\n", + "Frame 98 done in 0.010257959365844727 with a final error of 0.00014955077494960278 after 73 total iterations\n", + "Frame 99 done in 0.00806117057800293 with a final error of 0.00013623724225908518 after 42 total iterations\n", + "Frame 100 done in 0.007997274398803711 with a final error of 0.0001398247404722497 after 42 total iterations\n", + "Frame 101 done in 0.009537935256958008 with a final error of 0.0001487021509092301 after 74 total iterations\n", + "Frame 102 done in 0.009736061096191406 with a final error of 0.00012579833855852485 after 70 total iterations\n", + "Frame 103 done in 0.008860111236572266 with a final error of 0.00012894964311271906 after 42 total iterations\n", + "Frame 104 done in 0.008247613906860352 with a final error of 0.00013313358067534864 after 22 total iterations\n", + "Frame 105 done in 0.008156299591064453 with a final error of 0.0001248445187229663 after 38 total iterations\n", + "Frame 106 done in 0.008134841918945312 with a final error of 0.00012065257760696113 after 42 total iterations\n", + "Frame 107 done in 0.00888967514038086 with a final error of 0.00011326048115734011 after 61 total iterations\n", + "Frame 108 done in 0.008033990859985352 with a final error of 0.00012077094288542867 after 32 total iterations\n", + "Frame 109 done in 0.008647918701171875 with a final error of 0.00011772569996537641 after 52 total iterations\n", + "Frame 110 done in 0.0078051090240478516 with a final error of 0.00011478683882160112 after 26 total iterations\n", + "Frame 111 done in 0.008230209350585938 with a final error of 0.00011508709576446563 after 22 total iterations\n", + "Frame 112 done in 0.0072479248046875 with a final error of 0.000113593865535222 after 22 total iterations\n", + "Frame 113 done in 0.00838017463684082 with a final error of 0.00011020583042409271 after 42 total iterations\n", + "Frame 114 done in 0.00847482681274414 with a final error of 0.00011194223770871758 after 54 total iterations\n", + "Frame 115 done in 0.0075910091400146484 with a final error of 0.00013785480405203998 after 30 total iterations\n", + "Frame 116 done in 0.008734941482543945 with a final error of 0.00011944908328587189 after 76 total iterations\n", + "Frame 117 done in 0.009011268615722656 with a final error of 0.00012138282181695104 after 76 total iterations\n", + "Frame 118 done in 0.007910966873168945 with a final error of 0.0001286689512198791 after 43 total iterations\n", + "Frame 119 done in 0.008069992065429688 with a final error of 0.0001394054852426052 after 40 total iterations\n", + "Frame 120 done in 0.00793910026550293 with a final error of 0.0001338653964921832 after 38 total iterations\n", + "Frame 121 done in 0.008393049240112305 with a final error of 0.00012954341946169734 after 59 total iterations\n", + "Frame 122 done in 0.008821964263916016 with a final error of 0.00013936733012087643 after 49 total iterations\n", + "Frame 123 done in 0.00972294807434082 with a final error of 0.00012313760817050934 after 80 total iterations\n", + "Frame 124 done in 0.007848978042602539 with a final error of 0.00013093880261294544 after 42 total iterations\n", + "Frame 125 done in 0.008942127227783203 with a final error of 0.00012513213732745498 after 47 total iterations\n", + "Frame 126 done in 0.008135080337524414 with a final error of 0.0001236506795976311 after 42 total iterations\n", + "Frame 127 done in 0.009038925170898438 with a final error of 0.00012021779548376799 after 55 total iterations\n", + "Frame 128 done in 0.008078813552856445 with a final error of 0.00011618951248237863 after 42 total iterations\n", + "Frame 129 done in 0.007544994354248047 with a final error of 0.00011962026474066079 after 26 total iterations\n", + "Frame 130 done in 0.008113861083984375 with a final error of 0.00011823613021988422 after 42 total iterations\n", + "Frame 131 done in 0.00780797004699707 with a final error of 0.00012393042561598122 after 30 total iterations\n", + "Frame 132 done in 0.008178949356079102 with a final error of 0.00011336688476148993 after 34 total iterations\n", + "Frame 133 done in 0.008392333984375 with a final error of 0.00011593908129725605 after 52 total iterations\n", + "Frame 134 done in 0.007894754409790039 with a final error of 0.00011430709855630994 after 26 total iterations\n", + "Frame 135 done in 0.008986234664916992 with a final error of 0.00010783822654047981 after 34 total iterations\n", + "Frame 136 done in 0.00811910629272461 with a final error of 0.00011149686179123819 after 26 total iterations\n", + "Frame 137 done in 0.007426738739013672 with a final error of 0.0001057902118191123 after 26 total iterations\n", + "Frame 138 done in 0.007467031478881836 with a final error of 0.00011058943346142769 after 26 total iterations\n", + "Frame 139 done in 0.008271217346191406 with a final error of 0.00010522806405788288 after 42 total iterations\n", + "Frame 140 done in 0.007855892181396484 with a final error of 0.00010858122550416738 after 22 total iterations\n", + "Frame 141 done in 0.007681131362915039 with a final error of 0.00010742783342720941 after 22 total iterations\n", + "Frame 142 done in 0.009039878845214844 with a final error of 0.0001041362265823409 after 30 total iterations\n", + "Frame 143 done in 0.007602214813232422 with a final error of 0.00010468950495123863 after 22 total iterations\n", + "Frame 144 done in 0.008421897888183594 with a final error of 0.00010536648915149271 after 32 total iterations\n", + "Frame 145 done in 0.008027791976928711 with a final error of 0.00010329819633625448 after 44 total iterations\n", + "Frame 146 done in 0.008797168731689453 with a final error of 0.00011703932250384241 after 50 total iterations\n", + "Frame 147 done in 0.008730888366699219 with a final error of 0.00010891089914366603 after 42 total iterations\n", + "Frame 148 done in 0.008240222930908203 with a final error of 0.00011392253509256989 after 48 total iterations\n", + "Frame 149 done in 0.008463144302368164 with a final error of 0.00012162146595073864 after 42 total iterations\n", + "Frame 150 done in 0.008296966552734375 with a final error of 0.0001351432001683861 after 50 total iterations\n", + "Frame 151 done in 0.008161067962646484 with a final error of 0.00013164381380192935 after 51 total iterations\n", + "Frame 152 done in 0.008788108825683594 with a final error of 0.00014595982793252915 after 52 total iterations\n", + "Frame 153 done in 0.008028984069824219 with a final error of 0.0001358955487376079 after 44 total iterations\n", + "Frame 154 done in 0.009083032608032227 with a final error of 0.00013568022404797375 after 42 total iterations\n", + "Frame 155 done in 0.008081912994384766 with a final error of 0.00013453332940116525 after 42 total iterations\n", + "Frame 156 done in 0.008319854736328125 with a final error of 0.00013694919471163303 after 44 total iterations\n", + "Frame 157 done in 0.008079767227172852 with a final error of 0.0001360561727778986 after 42 total iterations\n", + "Frame 158 done in 0.008542060852050781 with a final error of 0.00013544701505452394 after 42 total iterations\n", + "Frame 159 done in 0.007704019546508789 with a final error of 0.00013693662185687572 after 44 total iterations\n", + "Frame 160 done in 0.008083820343017578 with a final error of 0.00014033007028046995 after 42 total iterations\n", + "Frame 161 done in 0.008275032043457031 with a final error of 0.0001423709181835875 after 42 total iterations\n", + "Frame 162 done in 0.007924079895019531 with a final error of 0.00014819615171290934 after 42 total iterations\n", + "Frame 163 done in 0.009279966354370117 with a final error of 0.00015266590344253927 after 81 total iterations\n", + "Frame 164 done in 0.007904052734375 with a final error of 0.00015295820776373148 after 46 total iterations\n", + "Frame 165 done in 0.00731205940246582 with a final error of 0.0001630938204471022 after 30 total iterations\n", + "Frame 166 done in 0.007570028305053711 with a final error of 0.00017217808635905385 after 34 total iterations\n", + "Frame 167 done in 0.008082866668701172 with a final error of 0.00018079976143781096 after 47 total iterations\n", + "Frame 168 done in 0.008037090301513672 with a final error of 0.00018696652841754258 after 42 total iterations\n", + "Frame 169 done in 0.0071849822998046875 with a final error of 0.00020055973436683416 after 26 total iterations\n", + "Frame 170 done in 0.008618831634521484 with a final error of 0.00019983868696726859 after 52 total iterations\n", + "Frame 171 done in 0.008283853530883789 with a final error of 0.0001969089498743415 after 42 total iterations\n", + "Frame 172 done in 0.008439064025878906 with a final error of 0.00020809678244404495 after 52 total iterations\n", + "Frame 173 done in 0.00834512710571289 with a final error of 0.00020343015785329044 after 48 total iterations\n", + "Frame 174 done in 0.008280038833618164 with a final error of 0.00020112001220695674 after 44 total iterations\n", + "Frame 175 done in 0.007710933685302734 with a final error of 0.0001909654529299587 after 42 total iterations\n", + "Frame 176 done in 0.010850191116333008 with a final error of 0.00018917140550911427 after 46 total iterations\n", + "Frame 177 done in 0.008221864700317383 with a final error of 0.00018377124797552824 after 44 total iterations\n", + "Frame 178 done in 0.008466243743896484 with a final error of 0.00017503337585367262 after 44 total iterations\n", + "Frame 179 done in 0.008395910263061523 with a final error of 0.00017861378728412092 after 52 total iterations\n", + "Frame 180 done in 0.008271932601928711 with a final error of 0.00016503850929439068 after 44 total iterations\n", + "Frame 181 done in 0.008458137512207031 with a final error of 0.0001630637707421556 after 46 total iterations\n", + "Frame 182 done in 0.01007699966430664 with a final error of 0.00015932071255519986 after 42 total iterations\n", + "Frame 183 done in 0.008311033248901367 with a final error of 0.00016066254465840757 after 46 total iterations\n", + "Frame 184 done in 0.0083770751953125 with a final error of 0.00015237396291922778 after 42 total iterations\n", + "Frame 185 done in 0.009113788604736328 with a final error of 0.00014858449867460877 after 72 total iterations\n", + "Frame 186 done in 0.008315324783325195 with a final error of 0.00015322709805332124 after 30 total iterations\n", + "Frame 187 done in 0.009078025817871094 with a final error of 0.00015148949751164764 after 78 total iterations\n", + "Frame 188 done in 0.010085105895996094 with a final error of 0.0001408519019605592 after 82 total iterations\n", + "Frame 189 done in 0.00985407829284668 with a final error of 0.0001396795705659315 after 85 total iterations\n", + "Frame 190 done in 0.00999593734741211 with a final error of 0.00012544594937935472 after 105 total iterations\n", + "Frame 191 done in 0.008527994155883789 with a final error of 0.00012224978127051145 after 44 total iterations\n", + "Frame 192 done in 0.0072879791259765625 with a final error of 0.00013231110642664135 after 22 total iterations\n", + "Frame 193 done in 0.008883953094482422 with a final error of 0.00013584342377725989 after 34 total iterations\n", + "Frame 194 done in 0.008044004440307617 with a final error of 0.00013136942288838327 after 42 total iterations\n", + "Frame 195 done in 0.007925033569335938 with a final error of 0.0001471546565880999 after 26 total iterations\n", + "Frame 196 done in 0.007321834564208984 with a final error of 0.00015781763067934662 after 22 total iterations\n", + "Frame 197 done in 0.008131980895996094 with a final error of 0.00016376873827539384 after 34 total iterations\n", + "Frame 198 done in 0.0076711177825927734 with a final error of 0.00016390002565458417 after 30 total iterations\n", + "Frame 199 done in 0.008466005325317383 with a final error of 0.000172117943293415 after 30 total iterations\n", + "Frame 200 done in 0.008284807205200195 with a final error of 0.00016825160128064454 after 48 total iterations\n", + "Frame 201 done in 0.00855708122253418 with a final error of 0.000155702669871971 after 42 total iterations\n", + "Frame 202 done in 0.008162975311279297 with a final error of 0.00015367215382866561 after 46 total iterations\n", + "Frame 203 done in 0.008405923843383789 with a final error of 0.0001556230999995023 after 48 total iterations\n", + "Frame 204 done in 0.0077860355377197266 with a final error of 0.0001382653135806322 after 42 total iterations\n", + "Frame 205 done in 0.008101701736450195 with a final error of 0.00013046537060290575 after 44 total iterations\n", + "Frame 206 done in 0.007986068725585938 with a final error of 0.00013556597696151584 after 46 total iterations\n", + "Frame 207 done in 0.01046299934387207 with a final error of 0.00012008046905975789 after 42 total iterations\n", + "Frame 208 done in 0.00840902328491211 with a final error of 0.0001190198672702536 after 44 total iterations\n", + "Frame 209 done in 0.008684158325195312 with a final error of 0.0001131940953200683 after 49 total iterations\n", + "Frame 210 done in 0.009488821029663086 with a final error of 0.00011795436148531735 after 50 total iterations\n", + "Frame 211 done in 0.0090179443359375 with a final error of 0.00010304387251380831 after 55 total iterations\n", + "Frame 212 done in 0.008313894271850586 with a final error of 0.00010786102211568505 after 48 total iterations\n", + "Frame 213 done in 0.009573936462402344 with a final error of 9.614279406378046e-05 after 55 total iterations\n", + "Frame 214 done in 0.00900125503540039 with a final error of 0.0001008580147754401 after 65 total iterations\n", + "Frame 215 done in 0.008671045303344727 with a final error of 8.594794053351507e-05 after 42 total iterations\n", + "Frame 216 done in 0.008276224136352539 with a final error of 8.29087512101978e-05 after 44 total iterations\n", + "Frame 217 done in 0.008238792419433594 with a final error of 8.082213025772944e-05 after 42 total iterations\n", + "Frame 218 done in 0.009845972061157227 with a final error of 8.127429464366287e-05 after 75 total iterations\n", + "Frame 219 done in 0.008308887481689453 with a final error of 8.709153917152435e-05 after 44 total iterations\n", + "Frame 220 done in 0.008285999298095703 with a final error of 8.922562119551003e-05 after 44 total iterations\n", + "Frame 221 done in 0.008208036422729492 with a final error of 8.888227603165433e-05 after 44 total iterations\n", + "Frame 222 done in 0.009393930435180664 with a final error of 9.175953891826794e-05 after 44 total iterations\n", + "Frame 223 done in 0.00870966911315918 with a final error of 9.338793461211026e-05 after 46 total iterations\n", + "Frame 224 done in 0.008315086364746094 with a final error of 9.203029912896454e-05 after 44 total iterations\n", + "Frame 225 done in 0.008696794509887695 with a final error of 9.10457456484437e-05 after 42 total iterations\n", + "Frame 226 done in 0.008382081985473633 with a final error of 9.151354606729001e-05 after 50 total iterations\n", + "Frame 227 done in 0.008314132690429688 with a final error of 8.899492968339473e-05 after 42 total iterations\n", + "Frame 228 done in 0.008032083511352539 with a final error of 8.82518506841734e-05 after 44 total iterations\n", + "Frame 229 done in 0.008252859115600586 with a final error of 0.00010119768558070064 after 50 total iterations\n", + "Frame 230 done in 0.008667230606079102 with a final error of 9.293346374761313e-05 after 42 total iterations\n", + "Frame 231 done in 0.008414983749389648 with a final error of 9.314873022958636e-05 after 42 total iterations\n", + "Frame 232 done in 0.008002758026123047 with a final error of 9.032231901073828e-05 after 42 total iterations\n", + "Frame 233 done in 0.008094072341918945 with a final error of 9.799032704904675e-05 after 48 total iterations\n", + "Frame 234 done in 0.008396148681640625 with a final error of 8.921799599193037e-05 after 46 total iterations\n", + "Frame 235 done in 0.008610963821411133 with a final error of 0.00010002778435591608 after 48 total iterations\n", + "Frame 236 done in 0.009813070297241211 with a final error of 9.263460378861055e-05 after 44 total iterations\n", + "Frame 237 done in 0.007994890213012695 with a final error of 9.292398317484185e-05 after 42 total iterations\n", + "Frame 238 done in 0.008295059204101562 with a final error of 9.685745317256078e-05 after 42 total iterations\n", + "Frame 239 done in 0.007863998413085938 with a final error of 9.724665869725868e-05 after 44 total iterations\n", + "Frame 240 done in 0.008409738540649414 with a final error of 9.889592183753848e-05 after 42 total iterations\n", + "Frame 241 done in 0.007940292358398438 with a final error of 9.847700130194426e-05 after 46 total iterations\n", + "Frame 242 done in 0.008528709411621094 with a final error of 0.00011156775872223079 after 52 total iterations\n", + "Frame 243 done in 0.00746917724609375 with a final error of 0.00011209663352929056 after 22 total iterations\n", + "Frame 244 done in 0.008198976516723633 with a final error of 0.00011967986210947856 after 52 total iterations\n", + "Frame 245 done in 0.00810098648071289 with a final error of 0.00011677241127472371 after 46 total iterations\n", + "Frame 246 done in 0.009249687194824219 with a final error of 0.00013164346455596387 after 44 total iterations\n", + "Frame 247 done in 0.007691144943237305 with a final error of 0.00015262141823768616 after 30 total iterations\n", + "Frame 248 done in 0.007747173309326172 with a final error of 0.0001616448862478137 after 35 total iterations\n", + "Frame 249 done in 0.007748842239379883 with a final error of 0.00022221062681637704 after 39 total iterations\n", + "Frame 250 done in 0.009033918380737305 with a final error of 0.00025771334185265005 after 68 total iterations\n", + "Mean error: 0.00016477103054057807\n", + "Standard deviation of error: 5.669892198056914e-05\n", + "Mean total iters: 54.39600372314453\n", + "Standard deviation of total iters: 108.66751861572266\n", "starting offset optimization\n", - "Begining offset optimization:\n", - "Final error of 0.0008061480475589633\n", - "offset optimization finished in 0.01944136619567871\n", "Calibration iteration: 5/6\n", "Pose Optimization:\n", - "Pose Optimization done in 0.27549004554748535\n", - "Frame 1 done in 0.028265953063964844 with a final error of 1.7644156287133228e-06\n", - "Frame 2 done in 0.028943777084350586 with a final error of 2.948524706880562e-05\n", - "Frame 3 done in 0.030536890029907227 with a final error of 2.8597663913387805e-05\n", - "Frame 4 done in 0.030678987503051758 with a final error of 1.693754347797949e-05\n", - "Frame 5 done in 0.02869105339050293 with a final error of 7.489315066777635e-06\n", - "Frame 6 done in 0.02822089195251465 with a final error of 1.797505137801636e-05\n", - "Frame 7 done in 0.029932022094726562 with a final error of 1.1738387001969386e-05\n", - "Frame 8 done in 0.03010416030883789 with a final error of 3.4613351544976467e-06\n", - "Frame 9 done in 0.010128974914550781 with a final error of 5.871419489267282e-06\n", - "Frame 10 done in 0.02974390983581543 with a final error of 4.68022972199833e-06\n", - "Flattened array shape: (10,)\n", - "Mean: 1.2800061085727066e-05\n", - "Standard deviation: 9.61314253800083e-06\n", + "Pose Optimization done in 2.1898281574249268\n", + "Frame 1 done in 0.05842995643615723 with a final error of 0.00039764540269970894 after 1660 total iterations\n", + "Frame 2 done in 0.022038936614990234 with a final error of 0.00030362128745764494 after 472 total iterations\n", + "Frame 3 done in 0.013525962829589844 with a final error of 0.00027314526960253716 after 211 total iterations\n", + "Frame 4 done in 0.009354114532470703 with a final error of 0.0002898478414863348 after 83 total iterations\n", + "Frame 5 done in 0.010592937469482422 with a final error of 0.000263255467871204 after 62 total iterations\n", + "Frame 6 done in 0.008552789688110352 with a final error of 0.00028112204745411873 after 47 total iterations\n", + "Frame 7 done in 0.009105205535888672 with a final error of 0.0002549827331677079 after 58 total iterations\n", + "Frame 8 done in 0.009030818939208984 with a final error of 0.0002546957693994045 after 42 total iterations\n", + "Frame 9 done in 0.007931947708129883 with a final error of 0.00025731162168085575 after 22 total iterations\n", + "Frame 10 done in 0.008150100708007812 with a final error of 0.0002488965983502567 after 38 total iterations\n", + "Frame 11 done in 0.008402109146118164 with a final error of 0.00025131000438705087 after 22 total iterations\n", + "Frame 12 done in 0.00793313980102539 with a final error of 0.0002389388537267223 after 34 total iterations\n", + "Frame 13 done in 0.007554769515991211 with a final error of 0.00024101624148897827 after 22 total iterations\n", + "Frame 14 done in 0.0077550411224365234 with a final error of 0.00023666591732762754 after 36 total iterations\n", + "Frame 15 done in 0.007603883743286133 with a final error of 0.00023149963817559183 after 22 total iterations\n", + "Frame 16 done in 0.009003877639770508 with a final error of 0.00022284711303655058 after 34 total iterations\n", + "Frame 17 done in 0.007992982864379883 with a final error of 0.00022677374363411218 after 22 total iterations\n", + "Frame 18 done in 0.00867009162902832 with a final error of 0.00021937198471277952 after 34 total iterations\n", + "Frame 19 done in 0.007874011993408203 with a final error of 0.00022312405053526163 after 22 total iterations\n", + "Frame 20 done in 0.008158206939697266 with a final error of 0.00022539189376402646 after 42 total iterations\n", + "Frame 21 done in 0.00912785530090332 with a final error of 0.00022935782908461988 after 22 total iterations\n", + "Frame 22 done in 0.0075359344482421875 with a final error of 0.00022022268967702985 after 34 total iterations\n", + "Frame 23 done in 0.007380962371826172 with a final error of 0.00022526193060912192 after 22 total iterations\n", + "Frame 24 done in 0.007882118225097656 with a final error of 0.0002197882131440565 after 34 total iterations\n", + "Frame 25 done in 0.007506132125854492 with a final error of 0.00022272112255450338 after 22 total iterations\n", + "Frame 26 done in 0.00758814811706543 with a final error of 0.0002168546780012548 after 36 total iterations\n", + "Frame 27 done in 0.007714033126831055 with a final error of 0.00022395694395527244 after 22 total iterations\n", + "Frame 28 done in 0.008012056350708008 with a final error of 0.00021976925199851394 after 38 total iterations\n", + "Frame 29 done in 0.008140087127685547 with a final error of 0.0002445891732349992 after 34 total iterations\n", + "Frame 30 done in 0.008668899536132812 with a final error of 0.0002756236935965717 after 68 total iterations\n", + "Frame 31 done in 0.008485794067382812 with a final error of 0.0002783298259600997 after 53 total iterations\n", + "Frame 32 done in 0.008439064025878906 with a final error of 0.00025431494577787817 after 62 total iterations\n", + "Frame 33 done in 0.008366107940673828 with a final error of 0.00023199216229841113 after 47 total iterations\n", + "Frame 34 done in 0.00890493392944336 with a final error of 0.0002432045730529353 after 47 total iterations\n", + "Frame 35 done in 0.008632898330688477 with a final error of 0.0002447181032039225 after 57 total iterations\n", + "Frame 36 done in 0.00844430923461914 with a final error of 0.0002492520725354552 after 63 total iterations\n", + "Frame 37 done in 0.008652687072753906 with a final error of 0.0002523026196286082 after 42 total iterations\n", + "Frame 38 done in 0.008839130401611328 with a final error of 0.0002483100106474012 after 64 total iterations\n", + "Frame 39 done in 0.00906825065612793 with a final error of 0.00022370748047251254 after 63 total iterations\n", + "Frame 40 done in 0.008573055267333984 with a final error of 0.0002294253499712795 after 50 total iterations\n", + "Frame 41 done in 0.009618997573852539 with a final error of 0.00023101767874322832 after 49 total iterations\n", + "Frame 42 done in 0.009862899780273438 with a final error of 0.00021801312686875463 after 50 total iterations\n", + "Frame 43 done in 0.012085199356079102 with a final error of 0.00021744992409367114 after 52 total iterations\n", + "Frame 44 done in 0.009398937225341797 with a final error of 0.0002057930687442422 after 40 total iterations\n", + "Frame 45 done in 0.008469104766845703 with a final error of 0.0002093466609949246 after 22 total iterations\n", + "Frame 46 done in 0.008933782577514648 with a final error of 0.00019507919205352664 after 34 total iterations\n", + "Frame 47 done in 0.008610963821411133 with a final error of 0.00020070007303729653 after 57 total iterations\n", + "Frame 48 done in 0.008747100830078125 with a final error of 0.00019745720783248544 after 50 total iterations\n", + "Frame 49 done in 0.007710933685302734 with a final error of 0.00019476909074001014 after 34 total iterations\n", + "Frame 50 done in 0.009853124618530273 with a final error of 0.00018340969108976424 after 52 total iterations\n", + "Frame 51 done in 0.008321046829223633 with a final error of 0.00018506424385122955 after 38 total iterations\n", + "Frame 52 done in 0.009296894073486328 with a final error of 0.0001920895156217739 after 34 total iterations\n", + "Frame 53 done in 0.007653236389160156 with a final error of 0.0001929999707499519 after 22 total iterations\n", + "Frame 54 done in 0.009131908416748047 with a final error of 0.00018085032934322953 after 42 total iterations\n", + "Frame 55 done in 0.007351875305175781 with a final error of 0.0001835422299336642 after 22 total iterations\n", + "Frame 56 done in 0.008779048919677734 with a final error of 0.000181592971784994 after 34 total iterations\n", + "Frame 57 done in 0.008515119552612305 with a final error of 0.00017497762746643275 after 42 total iterations\n", + "Frame 58 done in 0.008515119552612305 with a final error of 0.00017348094843328 after 42 total iterations\n", + "Frame 59 done in 0.007980108261108398 with a final error of 0.0001697172992862761 after 44 total iterations\n", + "Frame 60 done in 0.009234905242919922 with a final error of 0.00016744149615988135 after 44 total iterations\n", + "Frame 61 done in 0.00892186164855957 with a final error of 0.00015929940855130553 after 67 total iterations\n", + "Frame 62 done in 0.008066892623901367 with a final error of 0.0001596780784893781 after 42 total iterations\n", + "Frame 63 done in 0.009546995162963867 with a final error of 0.00016045363736338913 after 44 total iterations\n", + "Frame 64 done in 0.009505033493041992 with a final error of 0.00016091174620669335 after 42 total iterations\n", + "Frame 65 done in 0.008399009704589844 with a final error of 0.00015857913240324706 after 44 total iterations\n", + "Frame 66 done in 0.008244037628173828 with a final error of 0.00015875042299740016 after 42 total iterations\n", + "Frame 67 done in 0.008989095687866211 with a final error of 0.00015702846576459706 after 44 total iterations\n", + "Frame 68 done in 0.007909059524536133 with a final error of 0.00015580348554067314 after 42 total iterations\n", + "Frame 69 done in 0.00867605209350586 with a final error of 0.0001547795836813748 after 44 total iterations\n", + "Frame 70 done in 0.00800013542175293 with a final error of 0.00015385040023829788 after 42 total iterations\n", + "Frame 71 done in 0.007867813110351562 with a final error of 0.00015344202984124422 after 44 total iterations\n", + "Frame 72 done in 0.007950067520141602 with a final error of 0.00015375917428173125 after 42 total iterations\n", + "Frame 73 done in 0.008002042770385742 with a final error of 0.0001536322815809399 after 44 total iterations\n", + "Frame 74 done in 0.007948160171508789 with a final error of 0.00015298686048481613 after 44 total iterations\n", + "Frame 75 done in 0.00829315185546875 with a final error of 0.00015208660624921322 after 44 total iterations\n", + "Frame 76 done in 0.008399724960327148 with a final error of 0.0001528884458821267 after 44 total iterations\n", + "Frame 77 done in 0.007982969284057617 with a final error of 0.00015297206118702888 after 44 total iterations\n", + "Frame 78 done in 0.008093118667602539 with a final error of 0.00015445900498889387 after 44 total iterations\n", + "Frame 79 done in 0.010250091552734375 with a final error of 0.0001530176668893546 after 44 total iterations\n", + "Frame 80 done in 0.008252859115600586 with a final error of 0.0001533965696580708 after 44 total iterations\n", + "Frame 81 done in 0.008560895919799805 with a final error of 0.00015298105427064002 after 44 total iterations\n", + "Frame 82 done in 0.008109092712402344 with a final error of 0.0001523915125289932 after 44 total iterations\n", + "Frame 83 done in 0.008415937423706055 with a final error of 0.00015302271640393883 after 44 total iterations\n", + "Frame 84 done in 0.0081329345703125 with a final error of 0.00015241646906360984 after 44 total iterations\n", + "Frame 85 done in 0.008327245712280273 with a final error of 0.00015320535749197006 after 44 total iterations\n", + "Frame 86 done in 0.008332967758178711 with a final error of 0.00015349677414633334 after 44 total iterations\n", + "Frame 87 done in 0.008531332015991211 with a final error of 0.00015253333549480885 after 44 total iterations\n", + "Frame 88 done in 0.008418798446655273 with a final error of 0.00015209974662866443 after 44 total iterations\n", + "Frame 89 done in 0.007978200912475586 with a final error of 0.00015123412595130503 after 44 total iterations\n", + "Frame 90 done in 0.008220911026000977 with a final error of 0.00015172711573541164 after 57 total iterations\n", + "Frame 91 done in 0.007992029190063477 with a final error of 0.00015310183516703546 after 42 total iterations\n", + "Frame 92 done in 0.007734060287475586 with a final error of 0.00015378676471300423 after 47 total iterations\n", + "Frame 93 done in 0.008083105087280273 with a final error of 0.00015356935909949243 after 57 total iterations\n", + "Frame 94 done in 0.007765054702758789 with a final error of 0.00015487853670492768 after 42 total iterations\n", + "Frame 95 done in 0.007643938064575195 with a final error of 0.00015338588855229318 after 42 total iterations\n", + "Frame 96 done in 0.008905172348022461 with a final error of 0.0001491482398705557 after 44 total iterations\n", + "Frame 97 done in 0.008227109909057617 with a final error of 0.00015509819786529988 after 50 total iterations\n", + "Frame 98 done in 0.007963180541992188 with a final error of 0.0001402364287059754 after 42 total iterations\n", + "Frame 99 done in 0.007493019104003906 with a final error of 0.00012836640235036612 after 26 total iterations\n", + "Frame 100 done in 0.008784055709838867 with a final error of 0.00013324602332431823 after 40 total iterations\n", + "Frame 101 done in 0.009206056594848633 with a final error of 0.00013410602696239948 after 42 total iterations\n", + "Frame 102 done in 0.007750034332275391 with a final error of 0.0001440110499970615 after 22 total iterations\n", + "Frame 103 done in 0.010604143142700195 with a final error of 0.00013537824270315468 after 52 total iterations\n", + "Frame 104 done in 0.008096933364868164 with a final error of 0.00013622778351418674 after 32 total iterations\n", + "Frame 105 done in 0.007885932922363281 with a final error of 0.0001287280465476215 after 37 total iterations\n", + "Frame 106 done in 0.007941007614135742 with a final error of 0.00011871937022078782 after 42 total iterations\n", + "Frame 107 done in 0.007357120513916016 with a final error of 0.00012068921932950616 after 22 total iterations\n", + "Frame 108 done in 0.009228944778442383 with a final error of 0.00011235659621888772 after 52 total iterations\n", + "Frame 109 done in 0.009902238845825195 with a final error of 0.00010948260023724288 after 59 total iterations\n", + "Frame 110 done in 0.008491992950439453 with a final error of 0.00010562686657067388 after 42 total iterations\n", + "Frame 111 done in 0.008762121200561523 with a final error of 0.00011522092972882092 after 48 total iterations\n", + "Frame 112 done in 0.008430719375610352 with a final error of 0.00010353774268878624 after 47 total iterations\n", + "Frame 113 done in 0.009490966796875 with a final error of 9.943551413016394e-05 after 88 total iterations\n", + "Frame 114 done in 0.0083770751953125 with a final error of 0.00010739055869635195 after 49 total iterations\n", + "Frame 115 done in 0.009961128234863281 with a final error of 0.00011207913485122845 after 57 total iterations\n", + "Frame 116 done in 0.008803129196166992 with a final error of 0.0001227201137226075 after 59 total iterations\n", + "Frame 117 done in 0.008333683013916016 with a final error of 0.00011837082274723798 after 52 total iterations\n", + "Frame 118 done in 0.007884025573730469 with a final error of 0.00012197781325085089 after 40 total iterations\n", + "Frame 119 done in 0.00923919677734375 with a final error of 0.00016323702584486455 after 60 total iterations\n", + "Frame 120 done in 0.00815892219543457 with a final error of 0.0001347465586150065 after 44 total iterations\n", + "Frame 121 done in 0.008002042770385742 with a final error of 0.00013837445294484496 after 38 total iterations\n", + "Frame 122 done in 0.00792074203491211 with a final error of 0.0001401686604367569 after 44 total iterations\n", + "Frame 123 done in 0.009181976318359375 with a final error of 0.0001358614390483126 after 45 total iterations\n", + "Frame 124 done in 0.00846409797668457 with a final error of 0.0001380149187752977 after 34 total iterations\n", + "Frame 125 done in 0.008128643035888672 with a final error of 0.0001306918275076896 after 42 total iterations\n", + "Frame 126 done in 0.009148120880126953 with a final error of 0.00011557695688679814 after 77 total iterations\n", + "Frame 127 done in 0.00838780403137207 with a final error of 0.00011910601460840553 after 42 total iterations\n", + "Frame 128 done in 0.008735179901123047 with a final error of 0.0001247290929313749 after 44 total iterations\n", + "Frame 129 done in 0.007988929748535156 with a final error of 0.00011642901517916471 after 43 total iterations\n", + "Frame 130 done in 0.009514093399047852 with a final error of 0.0001074203391908668 after 90 total iterations\n", + "Frame 131 done in 0.007443904876708984 with a final error of 0.00011829454160761088 after 31 total iterations\n", + "Frame 132 done in 0.007938146591186523 with a final error of 0.00010630341421347111 after 49 total iterations\n", + "Frame 133 done in 0.007073879241943359 with a final error of 0.0001111524470616132 after 22 total iterations\n", + "Frame 134 done in 0.007798194885253906 with a final error of 0.00010458676842972636 after 44 total iterations\n", + "Frame 135 done in 0.009538888931274414 with a final error of 0.0001031225619954057 after 42 total iterations\n", + "Frame 136 done in 0.008586883544921875 with a final error of 0.00010090360592585057 after 53 total iterations\n", + "Frame 137 done in 0.008018016815185547 with a final error of 0.00010010076221078634 after 46 total iterations\n", + "Frame 138 done in 0.007772922515869141 with a final error of 9.944984776666388e-05 after 44 total iterations\n", + "Frame 139 done in 0.008387088775634766 with a final error of 9.978481102734804e-05 after 42 total iterations\n", + "Frame 140 done in 0.007942914962768555 with a final error of 9.710721496958286e-05 after 42 total iterations\n", + "Frame 141 done in 0.009181976318359375 with a final error of 9.617373871151358e-05 after 42 total iterations\n", + "Frame 142 done in 0.007912874221801758 with a final error of 9.322435653302819e-05 after 44 total iterations\n", + "Frame 143 done in 0.008651018142700195 with a final error of 9.321657125838101e-05 after 42 total iterations\n", + "Frame 144 done in 0.008054018020629883 with a final error of 9.293099719798192e-05 after 42 total iterations\n", + "Frame 145 done in 0.007969856262207031 with a final error of 9.432804654352367e-05 after 42 total iterations\n", + "Frame 146 done in 0.007884025573730469 with a final error of 9.837927791522816e-05 after 42 total iterations\n", + "Frame 147 done in 0.00945591926574707 with a final error of 0.00010122622916242108 after 81 total iterations\n", + "Frame 148 done in 0.007843017578125 with a final error of 0.00010465588275110349 after 42 total iterations\n", + "Frame 149 done in 0.008726119995117188 with a final error of 0.0001129155934904702 after 44 total iterations\n", + "Frame 150 done in 0.008002758026123047 with a final error of 0.00011638140131253749 after 44 total iterations\n", + "Frame 151 done in 0.009071111679077148 with a final error of 0.00012432794028427452 after 44 total iterations\n", + "Frame 152 done in 0.008246898651123047 with a final error of 0.00012892096128780395 after 42 total iterations\n", + "Frame 153 done in 0.0090179443359375 with a final error of 0.00012958742445334792 after 44 total iterations\n", + "Frame 154 done in 0.00784921646118164 with a final error of 0.0001289482752326876 after 44 total iterations\n", + "Frame 155 done in 0.008862972259521484 with a final error of 0.00012873351806774735 after 44 total iterations\n", + "Frame 156 done in 0.008324861526489258 with a final error of 0.00012926457566209137 after 59 total iterations\n", + "Frame 157 done in 0.008359909057617188 with a final error of 0.00012857341789640486 after 62 total iterations\n", + "Frame 158 done in 0.0077822208404541016 with a final error of 0.0001287767809117213 after 44 total iterations\n", + "Frame 159 done in 0.009112834930419922 with a final error of 0.00012716195487882942 after 72 total iterations\n", + "Frame 160 done in 0.007861137390136719 with a final error of 0.00013298170233611017 after 42 total iterations\n", + "Frame 161 done in 0.008435249328613281 with a final error of 0.00014386625844053924 after 44 total iterations\n", + "Frame 162 done in 0.007856130599975586 with a final error of 0.00013830073294229805 after 42 total iterations\n", + "Frame 163 done in 0.008761882781982422 with a final error of 0.0001479644706705585 after 66 total iterations\n", + "Frame 164 done in 0.009584188461303711 with a final error of 0.00014713805285282433 after 44 total iterations\n", + "Frame 165 done in 0.008168935775756836 with a final error of 0.0001576234062667936 after 42 total iterations\n", + "Frame 166 done in 0.007866859436035156 with a final error of 0.00016708440671209246 after 42 total iterations\n", + "Frame 167 done in 0.00873422622680664 with a final error of 0.00017215665138792247 after 47 total iterations\n", + "Frame 168 done in 0.0075109004974365234 with a final error of 0.00018615328008309007 after 22 total iterations\n", + "Frame 169 done in 0.0076138973236083984 with a final error of 0.00019527075346559286 after 26 total iterations\n", + "Frame 170 done in 0.007822990417480469 with a final error of 0.00018715811893343925 after 42 total iterations\n", + "Frame 171 done in 0.00833892822265625 with a final error of 0.00019380975572858006 after 42 total iterations\n", + "Frame 172 done in 0.00799417495727539 with a final error of 0.00019232208433095366 after 55 total iterations\n", + "Frame 173 done in 0.007914066314697266 with a final error of 0.00019619679369498044 after 44 total iterations\n", + "Frame 174 done in 0.0077838897705078125 with a final error of 0.00019691184570547193 after 42 total iterations\n", + "Frame 175 done in 0.008081912994384766 with a final error of 0.00018792344781104475 after 44 total iterations\n", + "Frame 176 done in 0.007776975631713867 with a final error of 0.00018563526100479066 after 42 total iterations\n", + "Frame 177 done in 0.008841991424560547 with a final error of 0.0001914354070322588 after 62 total iterations\n", + "Frame 178 done in 0.008275985717773438 with a final error of 0.00017200982256326824 after 44 total iterations\n", + "Frame 179 done in 0.00863790512084961 with a final error of 0.00017295227735303342 after 64 total iterations\n", + "Frame 180 done in 0.007784128189086914 with a final error of 0.00016120502550620586 after 44 total iterations\n", + "Frame 181 done in 0.01036691665649414 with a final error of 0.00015458153211511672 after 98 total iterations\n", + "Frame 182 done in 0.008266925811767578 with a final error of 0.00015468246419914067 after 42 total iterations\n", + "Frame 183 done in 0.008491992950439453 with a final error of 0.00015558642917312682 after 34 total iterations\n", + "Frame 184 done in 0.008009910583496094 with a final error of 0.00014575387467630208 after 30 total iterations\n", + "Frame 185 done in 0.007632017135620117 with a final error of 0.00014699879102408886 after 34 total iterations\n", + "Frame 186 done in 0.007539033889770508 with a final error of 0.00014635318075306714 after 30 total iterations\n", + "Frame 187 done in 0.00912618637084961 with a final error of 0.00013302601291798055 after 80 total iterations\n", + "Frame 188 done in 0.007963895797729492 with a final error of 0.00013922371726948768 after 52 total iterations\n", + "Frame 189 done in 0.008507966995239258 with a final error of 0.00013579137157648802 after 34 total iterations\n", + "Frame 190 done in 0.01089620590209961 with a final error of 0.00012476716074161232 after 113 total iterations\n", + "Frame 191 done in 0.009093761444091797 with a final error of 0.00011919924872927368 after 54 total iterations\n", + "Frame 192 done in 0.00809025764465332 with a final error of 0.00012429888010956347 after 42 total iterations\n", + "Frame 193 done in 0.009564876556396484 with a final error of 0.00012681842781603336 after 52 total iterations\n", + "Frame 194 done in 0.009336709976196289 with a final error of 0.0001243046426679939 after 55 total iterations\n", + "Frame 195 done in 0.009742021560668945 with a final error of 0.00014101179840508848 after 80 total iterations\n", + "Frame 196 done in 0.008089065551757812 with a final error of 0.00014557159738615155 after 44 total iterations\n", + "Frame 197 done in 0.007852792739868164 with a final error of 0.0001486539258621633 after 42 total iterations\n", + "Frame 198 done in 0.009158134460449219 with a final error of 0.0001569322048453614 after 38 total iterations\n", + "Frame 199 done in 0.008511066436767578 with a final error of 0.00015585319488309324 after 30 total iterations\n", + "Frame 200 done in 0.008603811264038086 with a final error of 0.00015304103726521134 after 22 total iterations\n", + "Frame 201 done in 0.008449077606201172 with a final error of 0.00015194086881820112 after 40 total iterations\n", + "Frame 202 done in 0.009553909301757812 with a final error of 0.00015130446990951896 after 22 total iterations\n", + "Frame 203 done in 0.007758140563964844 with a final error of 0.0001396503794239834 after 30 total iterations\n", + "Frame 204 done in 0.0076029300689697266 with a final error of 0.0001390322868246585 after 22 total iterations\n", + "Frame 205 done in 0.008213996887207031 with a final error of 0.00012686777336057276 after 48 total iterations\n", + "Frame 206 done in 0.008831977844238281 with a final error of 0.00011978039401583374 after 47 total iterations\n", + "Frame 207 done in 0.008080005645751953 with a final error of 0.00011731111590052024 after 42 total iterations\n", + "Frame 208 done in 0.009491920471191406 with a final error of 0.00011640015873126686 after 46 total iterations\n", + "Frame 209 done in 0.008383989334106445 with a final error of 0.00011037052900064737 after 44 total iterations\n", + "Frame 210 done in 0.009680032730102539 with a final error of 0.00010459193435963243 after 55 total iterations\n", + "Frame 211 done in 0.008913040161132812 with a final error of 9.969314123736694e-05 after 55 total iterations\n", + "Frame 212 done in 0.008380889892578125 with a final error of 0.00010428005771245807 after 50 total iterations\n", + "Frame 213 done in 0.00897526741027832 with a final error of 9.280647645937279e-05 after 48 total iterations\n", + "Frame 214 done in 0.009818792343139648 with a final error of 8.81611995282583e-05 after 77 total iterations\n", + "Frame 215 done in 0.008015155792236328 with a final error of 8.195235568564385e-05 after 42 total iterations\n", + "Frame 216 done in 0.008178949356079102 with a final error of 7.823162013664842e-05 after 44 total iterations\n", + "Frame 217 done in 0.008580207824707031 with a final error of 7.616294897161424e-05 after 42 total iterations\n", + "Frame 218 done in 0.00816798210144043 with a final error of 7.979978545336053e-05 after 46 total iterations\n", + "Frame 219 done in 0.008059978485107422 with a final error of 8.391372102778405e-05 after 44 total iterations\n", + "Frame 220 done in 0.008116960525512695 with a final error of 9.445085015613586e-05 after 48 total iterations\n", + "Frame 221 done in 0.007956981658935547 with a final error of 8.50875221658498e-05 after 44 total iterations\n", + "Frame 222 done in 0.008141040802001953 with a final error of 8.765100210439414e-05 after 44 total iterations\n", + "Frame 223 done in 0.008404016494750977 with a final error of 8.920984691940248e-05 after 44 total iterations\n", + "Frame 224 done in 0.00812387466430664 with a final error of 8.776369213592261e-05 after 44 total iterations\n", + "Frame 225 done in 0.007822990417480469 with a final error of 8.8302738731727e-05 after 44 total iterations\n", + "Frame 226 done in 0.008092880249023438 with a final error of 8.722604252398014e-05 after 42 total iterations\n", + "Frame 227 done in 0.008455753326416016 with a final error of 8.586855255998671e-05 after 44 total iterations\n", + "Frame 228 done in 0.008907079696655273 with a final error of 8.467494626529515e-05 after 75 total iterations\n", + "Frame 229 done in 0.008061885833740234 with a final error of 9.645932004787028e-05 after 44 total iterations\n", + "Frame 230 done in 0.008217096328735352 with a final error of 8.932142372941598e-05 after 42 total iterations\n", + "Frame 231 done in 0.008765935897827148 with a final error of 9.714087354950607e-05 after 52 total iterations\n", + "Frame 232 done in 0.008552789688110352 with a final error of 8.31982761155814e-05 after 51 total iterations\n", + "Frame 233 done in 0.009127140045166016 with a final error of 8.279048779513687e-05 after 46 total iterations\n", + "Frame 234 done in 0.007886171340942383 with a final error of 8.396596240345389e-05 after 42 total iterations\n", + "Frame 235 done in 0.007888078689575195 with a final error of 8.550106576876715e-05 after 42 total iterations\n", + "Frame 236 done in 0.007820844650268555 with a final error of 8.875507046468556e-05 after 42 total iterations\n", + "Frame 237 done in 0.008064985275268555 with a final error of 8.921656262828037e-05 after 42 total iterations\n", + "Frame 238 done in 0.009819746017456055 with a final error of 9.199248597724363e-05 after 71 total iterations\n", + "Frame 239 done in 0.010006904602050781 with a final error of 9.495900303591043e-05 after 83 total iterations\n", + "Frame 240 done in 0.008343935012817383 with a final error of 0.00010498647316126153 after 57 total iterations\n", + "Frame 241 done in 0.008092880249023438 with a final error of 9.430612408323213e-05 after 44 total iterations\n", + "Frame 242 done in 0.008466958999633789 with a final error of 9.843611042015254e-05 after 44 total iterations\n", + "Frame 243 done in 0.007893085479736328 with a final error of 0.0001040442002704367 after 42 total iterations\n", + "Frame 244 done in 0.00791025161743164 with a final error of 0.00010783815378090367 after 42 total iterations\n", + "Frame 245 done in 0.007846832275390625 with a final error of 0.00011446455027908087 after 42 total iterations\n", + "Frame 246 done in 0.008030891418457031 with a final error of 0.00013686118472833186 after 22 total iterations\n", + "Frame 247 done in 0.009298086166381836 with a final error of 0.00014836022455710918 after 42 total iterations\n", + "Frame 248 done in 0.010322093963623047 with a final error of 0.00015455999528057873 after 73 total iterations\n", + "Frame 249 done in 0.010977745056152344 with a final error of 0.00019795936532318592 after 65 total iterations\n", + "Frame 250 done in 0.007717132568359375 with a final error of 0.0002483797143213451 after 26 total iterations\n", + "Mean error: 0.00015430057828780264\n", + "Standard deviation of error: 5.3150844905758277e-05\n", + "Mean total iters: 54.00800323486328\n", + "Standard deviation of total iters: 106.671142578125\n", "starting offset optimization\n", - "Begining offset optimization:\n", - "Final error of 0.0008939061663113534\n", - "offset optimization finished in 0.020013093948364258\n", "Calibration iteration: 6/6\n", "Pose Optimization:\n", - "Pose Optimization done in 0.2834749221801758\n", - "Frame 1 done in 0.03154110908508301 with a final error of 4.91184482598328e-06\n", - "Frame 2 done in 0.030118227005004883 with a final error of 4.213423380861059e-06\n", - "Frame 3 done in 0.028731107711791992 with a final error of 1.410570530424593e-05\n", - "Frame 4 done in 0.029465913772583008 with a final error of 1.2994731150683947e-05\n", - "Frame 5 done in 0.0277559757232666 with a final error of 1.4421345440496225e-05\n", - "Frame 6 done in 0.026679039001464844 with a final error of 1.1991121937171556e-05\n", - "Frame 7 done in 0.02828192710876465 with a final error of 5.676869477611035e-06\n", - "Frame 8 done in 0.027343034744262695 with a final error of 9.357620001537725e-06\n", - "Frame 9 done in 0.02688121795654297 with a final error of 4.746553258883068e-06\n", - "Frame 10 done in 0.02637171745300293 with a final error of 3.5478835798130604e-06\n", - "Flattened array shape: (10,)\n", - "Mean: 8.596710358688142e-06\n", - "Standard deviation: 4.211297436995665e-06\n", + "Pose Optimization done in 2.1901252269744873\n", + "Frame 1 done in 0.06116819381713867 with a final error of 0.0003940280294045806 after 1677 total iterations\n", + "Frame 2 done in 0.023550987243652344 with a final error of 0.00029670633375644684 after 476 total iterations\n", + "Frame 3 done in 0.01365208625793457 with a final error of 0.0002690421533770859 after 205 total iterations\n", + "Frame 4 done in 0.00996088981628418 with a final error of 0.0002777020854409784 after 90 total iterations\n", + "Frame 5 done in 0.008831024169921875 with a final error of 0.00032470066798850894 after 55 total iterations\n", + "Frame 6 done in 0.009380102157592773 with a final error of 0.0002543749287724495 after 77 total iterations\n", + "Frame 7 done in 0.008851051330566406 with a final error of 0.0002480606781318784 after 65 total iterations\n", + "Frame 8 done in 0.008077144622802734 with a final error of 0.0002451388572808355 after 42 total iterations\n", + "Frame 9 done in 0.008475780487060547 with a final error of 0.00024070717336144298 after 42 total iterations\n", + "Frame 10 done in 0.008337974548339844 with a final error of 0.0002392075111856684 after 42 total iterations\n", + "Frame 11 done in 0.008252143859863281 with a final error of 0.00023569527547806501 after 42 total iterations\n", + "Frame 12 done in 0.009006738662719727 with a final error of 0.00023120107653085142 after 42 total iterations\n", + "Frame 13 done in 0.008646965026855469 with a final error of 0.00022814606199972332 after 42 total iterations\n", + "Frame 14 done in 0.007803201675415039 with a final error of 0.0002250745747005567 after 42 total iterations\n", + "Frame 15 done in 0.008769035339355469 with a final error of 0.00022124878887552768 after 42 total iterations\n", + "Frame 16 done in 0.008260011672973633 with a final error of 0.00021944401669315994 after 42 total iterations\n", + "Frame 17 done in 0.009704828262329102 with a final error of 0.000217811917536892 after 42 total iterations\n", + "Frame 18 done in 0.008507013320922852 with a final error of 0.00021671902504749596 after 42 total iterations\n", + "Frame 19 done in 0.008033990859985352 with a final error of 0.00021573346748482436 after 42 total iterations\n", + "Frame 20 done in 0.00881505012512207 with a final error of 0.00022916457965038717 after 22 total iterations\n", + "Frame 21 done in 0.007805824279785156 with a final error of 0.00022851635003462434 after 26 total iterations\n", + "Frame 22 done in 0.007990121841430664 with a final error of 0.000224488481762819 after 26 total iterations\n", + "Frame 23 done in 0.008608102798461914 with a final error of 0.0002202248142566532 after 30 total iterations\n", + "Frame 24 done in 0.00860285758972168 with a final error of 0.00022531374997925013 after 22 total iterations\n", + "Frame 25 done in 0.007932186126708984 with a final error of 0.00021950676455162466 after 26 total iterations\n", + "Frame 26 done in 0.007606029510498047 with a final error of 0.0002234663988929242 after 22 total iterations\n", + "Frame 27 done in 0.00782918930053711 with a final error of 0.00022650300525128841 after 26 total iterations\n", + "Frame 28 done in 0.007610797882080078 with a final error of 0.00022737291874364018 after 22 total iterations\n", + "Frame 29 done in 0.009814023971557617 with a final error of 0.0002425220445729792 after 79 total iterations\n", + "Frame 30 done in 0.008101940155029297 with a final error of 0.0002814257750287652 after 40 total iterations\n", + "Frame 31 done in 0.008755207061767578 with a final error of 0.00027064079768024385 after 60 total iterations\n", + "Frame 32 done in 0.01047515869140625 with a final error of 0.0002543244045227766 after 50 total iterations\n", + "Frame 33 done in 0.009222030639648438 with a final error of 0.00022698426619172096 after 65 total iterations\n", + "Frame 34 done in 0.008665800094604492 with a final error of 0.00023634047829546034 after 47 total iterations\n", + "Frame 35 done in 0.008733272552490234 with a final error of 0.00022265964071266353 after 65 total iterations\n", + "Frame 36 done in 0.008576631546020508 with a final error of 0.00022587286366615444 after 62 total iterations\n", + "Frame 37 done in 0.010000228881835938 with a final error of 0.00022465411166194826 after 65 total iterations\n", + "Frame 38 done in 0.008578062057495117 with a final error of 0.00022090887068770826 after 57 total iterations\n", + "Frame 39 done in 0.008521080017089844 with a final error of 0.00022008165251463652 after 52 total iterations\n", + "Frame 40 done in 0.00824594497680664 with a final error of 0.0002294132427778095 after 40 total iterations\n", + "Frame 41 done in 0.009048938751220703 with a final error of 0.00021888045012019575 after 52 total iterations\n", + "Frame 42 done in 0.00847315788269043 with a final error of 0.00019934179726988077 after 59 total iterations\n", + "Frame 43 done in 0.008433818817138672 with a final error of 0.00020174100063741207 after 59 total iterations\n", + "Frame 44 done in 0.008532047271728516 with a final error of 0.00019040945335291326 after 63 total iterations\n", + "Frame 45 done in 0.007952213287353516 with a final error of 0.0001908076083054766 after 40 total iterations\n", + "Frame 46 done in 0.009233951568603516 with a final error of 0.00016911534476093948 after 84 total iterations\n", + "Frame 47 done in 0.008654117584228516 with a final error of 0.00019136813352815807 after 52 total iterations\n", + "Frame 48 done in 0.007991790771484375 with a final error of 0.00018119094602297992 after 44 total iterations\n", + "Frame 49 done in 0.007489919662475586 with a final error of 0.00018214419833384454 after 30 total iterations\n", + "Frame 50 done in 0.010264158248901367 with a final error of 0.00016282935393974185 after 102 total iterations\n", + "Frame 51 done in 0.008888006210327148 with a final error of 0.00017122947610914707 after 72 total iterations\n", + "Frame 52 done in 0.009364128112792969 with a final error of 0.00016741185390856117 after 67 total iterations\n", + "Frame 53 done in 0.007630825042724609 with a final error of 0.00017850326548796147 after 22 total iterations\n", + "Frame 54 done in 0.00803518295288086 with a final error of 0.00017533276695758104 after 41 total iterations\n", + "Frame 55 done in 0.008059024810791016 with a final error of 0.00016886158846318722 after 26 total iterations\n", + "Frame 56 done in 0.007593870162963867 with a final error of 0.0001680431014392525 after 22 total iterations\n", + "Frame 57 done in 0.007415056228637695 with a final error of 0.0001684096932876855 after 22 total iterations\n", + "Frame 58 done in 0.008021831512451172 with a final error of 0.00016874916036613286 after 48 total iterations\n", + "Frame 59 done in 0.007266044616699219 with a final error of 0.0001581606629770249 after 26 total iterations\n", + "Frame 60 done in 0.008088827133178711 with a final error of 0.00016215619689319283 after 48 total iterations\n", + "Frame 61 done in 0.007901906967163086 with a final error of 0.00016012307605706155 after 48 total iterations\n", + "Frame 62 done in 0.008011102676391602 with a final error of 0.00015911232912912965 after 52 total iterations\n", + "Frame 63 done in 0.00820302963256836 with a final error of 0.00015183340292423964 after 44 total iterations\n", + "Frame 64 done in 0.008273124694824219 with a final error of 0.000151242216816172 after 44 total iterations\n", + "Frame 65 done in 0.007804155349731445 with a final error of 0.00014879865921102464 after 46 total iterations\n", + "Frame 66 done in 0.008035898208618164 with a final error of 0.00015201838687062263 after 57 total iterations\n", + "Frame 67 done in 0.007971048355102539 with a final error of 0.00015707436250522733 after 50 total iterations\n", + "Frame 68 done in 0.007853031158447266 with a final error of 0.0001552220492158085 after 52 total iterations\n", + "Frame 69 done in 0.008559942245483398 with a final error of 0.00014532802742905915 after 72 total iterations\n", + "Frame 70 done in 0.008275270462036133 with a final error of 0.00015573037671856582 after 52 total iterations\n", + "Frame 71 done in 0.00808572769165039 with a final error of 0.00015624451043549925 after 52 total iterations\n", + "Frame 72 done in 0.008929014205932617 with a final error of 0.0001487652480136603 after 67 total iterations\n", + "Frame 73 done in 0.008230209350585938 with a final error of 0.00015321557293646038 after 48 total iterations\n", + "Frame 74 done in 0.008047819137573242 with a final error of 0.00015375568182207644 after 52 total iterations\n", + "Frame 75 done in 0.008131980895996094 with a final error of 0.00015331371105276048 after 52 total iterations\n", + "Frame 76 done in 0.008307933807373047 with a final error of 0.00015359779354184866 after 55 total iterations\n", + "Frame 77 done in 0.008254051208496094 with a final error of 0.00015519795124419034 after 52 total iterations\n", + "Frame 78 done in 0.008395910263061523 with a final error of 0.00015660017379559577 after 52 total iterations\n", + "Frame 79 done in 0.009347200393676758 with a final error of 0.00015561518375761807 after 52 total iterations\n", + "Frame 80 done in 0.009243011474609375 with a final error of 0.0001544487604405731 after 57 total iterations\n", + "Frame 81 done in 0.009034156799316406 with a final error of 0.00015375291695818305 after 56 total iterations\n", + "Frame 82 done in 0.009029865264892578 with a final error of 0.00015427099424414337 after 52 total iterations\n", + "Frame 83 done in 0.009937286376953125 with a final error of 0.00015473368694074452 after 52 total iterations\n", + "Frame 84 done in 0.008810997009277344 with a final error of 0.00015424127923324704 after 52 total iterations\n", + "Frame 85 done in 0.008342742919921875 with a final error of 0.00015688096755184233 after 52 total iterations\n", + "Frame 86 done in 0.00879526138305664 with a final error of 0.00015588002861477435 after 52 total iterations\n", + "Frame 87 done in 0.009630918502807617 with a final error of 0.00015624574734829366 after 52 total iterations\n", + "Frame 88 done in 0.008604764938354492 with a final error of 0.00015502945461776108 after 52 total iterations\n", + "Frame 89 done in 0.008384943008422852 with a final error of 0.00015314518532250077 after 55 total iterations\n", + "Frame 90 done in 0.008393049240112305 with a final error of 0.0001545209379401058 after 52 total iterations\n", + "Frame 91 done in 0.00917506217956543 with a final error of 0.00015582179185003042 after 52 total iterations\n", + "Frame 92 done in 0.008267879486083984 with a final error of 0.00015583063941448927 after 52 total iterations\n", + "Frame 93 done in 0.008859872817993164 with a final error of 0.00015789156896062195 after 52 total iterations\n", + "Frame 94 done in 0.010442018508911133 with a final error of 0.00015612546121701598 after 62 total iterations\n", + "Frame 95 done in 0.008515119552612305 with a final error of 0.00014620216097682714 after 56 total iterations\n", + "Frame 96 done in 0.008792877197265625 with a final error of 0.00014376896433532238 after 44 total iterations\n", + "Frame 97 done in 0.008523941040039062 with a final error of 0.0001472787989769131 after 50 total iterations\n", + "Frame 98 done in 0.008853912353515625 with a final error of 0.00013308311463333666 after 70 total iterations\n", + "Frame 99 done in 0.008831024169921875 with a final error of 0.00012101098400307819 after 65 total iterations\n", + "Frame 100 done in 0.008002042770385742 with a final error of 0.0001222852006321773 after 42 total iterations\n", + "Frame 101 done in 0.008132219314575195 with a final error of 0.00012256429181434214 after 51 total iterations\n", + "Frame 102 done in 0.007666826248168945 with a final error of 0.00012004474410787225 after 40 total iterations\n", + "Frame 103 done in 0.009352922439575195 with a final error of 0.00011087804159615189 after 54 total iterations\n", + "Frame 104 done in 0.008800029754638672 with a final error of 0.00010130689042853191 after 72 total iterations\n", + "Frame 105 done in 0.008430004119873047 with a final error of 0.00010447351087350398 after 51 total iterations\n", + "Frame 106 done in 0.008796930313110352 with a final error of 0.00010125510743819177 after 42 total iterations\n", + "Frame 107 done in 0.007518768310546875 with a final error of 0.0001029811319313012 after 36 total iterations\n", + "Frame 108 done in 0.007111072540283203 with a final error of 0.00010679781553335488 after 22 total iterations\n", + "Frame 109 done in 0.007620096206665039 with a final error of 0.00010630283213686198 after 38 total iterations\n", + "Frame 110 done in 0.007788896560668945 with a final error of 9.879872959572822e-05 after 44 total iterations\n", + "Frame 111 done in 0.007839202880859375 with a final error of 9.973091073334217e-05 after 42 total iterations\n", + "Frame 112 done in 0.00944375991821289 with a final error of 9.337411029264331e-05 after 70 total iterations\n", + "Frame 113 done in 0.007576942443847656 with a final error of 0.00010294881940353662 after 26 total iterations\n", + "Frame 114 done in 0.009533882141113281 with a final error of 0.0001006016245810315 after 63 total iterations\n", + "Frame 115 done in 0.008358001708984375 with a final error of 0.00012419503764249384 after 30 total iterations\n", + "Frame 116 done in 0.009379148483276367 with a final error of 0.00012191148562123999 after 80 total iterations\n", + "Frame 117 done in 0.008894920349121094 with a final error of 0.00013714533997699618 after 44 total iterations\n", + "Frame 118 done in 0.009361028671264648 with a final error of 0.00013248328468762338 after 57 total iterations\n", + "Frame 119 done in 0.008047103881835938 with a final error of 0.00015393542707897723 after 41 total iterations\n", + "Frame 120 done in 0.008795738220214844 with a final error of 0.00014494502102024853 after 58 total iterations\n", + "Frame 121 done in 0.008868694305419922 with a final error of 0.00014228062354959548 after 50 total iterations\n", + "Frame 122 done in 0.007871866226196289 with a final error of 0.00014034102787263691 after 38 total iterations\n", + "Frame 123 done in 0.008162975311279297 with a final error of 0.0001298061979468912 after 43 total iterations\n", + "Frame 124 done in 0.007790803909301758 with a final error of 0.00013443839270621538 after 38 total iterations\n", + "Frame 125 done in 0.009331941604614258 with a final error of 0.0001203664141939953 after 60 total iterations\n", + "Frame 126 done in 0.009021282196044922 with a final error of 0.00012281359522603452 after 42 total iterations\n", + "Frame 127 done in 0.009580850601196289 with a final error of 0.00011310287663945928 after 73 total iterations\n", + "Frame 128 done in 0.008407115936279297 with a final error of 0.00012013630475848913 after 50 total iterations\n", + "Frame 129 done in 0.008968114852905273 with a final error of 0.00010740610014181584 after 42 total iterations\n", + "Frame 130 done in 0.009971857070922852 with a final error of 0.00011330681445542723 after 38 total iterations\n", + "Frame 131 done in 0.009219169616699219 with a final error of 0.00010745169129222631 after 70 total iterations\n", + "Frame 132 done in 0.008418083190917969 with a final error of 0.00010225475125480443 after 52 total iterations\n", + "Frame 133 done in 0.009093999862670898 with a final error of 0.00011312980495858938 after 57 total iterations\n", + "Frame 134 done in 0.008897066116333008 with a final error of 9.940445306710899e-05 after 52 total iterations\n", + "Frame 135 done in 0.009026050567626953 with a final error of 9.905186016112566e-05 after 46 total iterations\n", + "Frame 136 done in 0.008385181427001953 with a final error of 0.00010734134411904961 after 50 total iterations\n", + "Frame 137 done in 0.00873875617980957 with a final error of 9.628331463318318e-05 after 44 total iterations\n", + "Frame 138 done in 0.008118152618408203 with a final error of 9.545675129629672e-05 after 49 total iterations\n", + "Frame 139 done in 0.007969856262207031 with a final error of 9.539743768982589e-05 after 44 total iterations\n", + "Frame 140 done in 0.009818792343139648 with a final error of 0.00010406273941043764 after 52 total iterations\n", + "Frame 141 done in 0.010232210159301758 with a final error of 9.255702025257051e-05 after 46 total iterations\n", + "Frame 142 done in 0.008580923080444336 with a final error of 0.00010015498264692724 after 50 total iterations\n", + "Frame 143 done in 0.008675098419189453 with a final error of 8.946124580688775e-05 after 56 total iterations\n", + "Frame 144 done in 0.008527040481567383 with a final error of 9.917883289745077e-05 after 52 total iterations\n", + "Frame 145 done in 0.008772850036621094 with a final error of 9.182162466458976e-05 after 44 total iterations\n", + "Frame 146 done in 0.008152961730957031 with a final error of 9.523046901449561e-05 after 44 total iterations\n", + "Frame 147 done in 0.007986068725585938 with a final error of 9.71908011706546e-05 after 44 total iterations\n", + "Frame 148 done in 0.008175849914550781 with a final error of 0.00010221776756225154 after 46 total iterations\n", + "Frame 149 done in 0.007947206497192383 with a final error of 0.00010996182390954345 after 42 total iterations\n", + "Frame 150 done in 0.008801937103271484 with a final error of 0.00011430965969339013 after 42 total iterations\n", + "Frame 151 done in 0.008222818374633789 with a final error of 0.00012100329331588 after 44 total iterations\n", + "Frame 152 done in 0.008587121963500977 with a final error of 0.00013596098870038986 after 52 total iterations\n", + "Frame 153 done in 0.008858203887939453 with a final error of 0.00012574349239002913 after 44 total iterations\n", + "Frame 154 done in 0.008365631103515625 with a final error of 0.00012566937948577106 after 42 total iterations\n", + "Frame 155 done in 0.008508920669555664 with a final error of 0.00012483811588026583 after 42 total iterations\n", + "Frame 156 done in 0.007957935333251953 with a final error of 0.00012736758799292147 after 42 total iterations\n", + "Frame 157 done in 0.008634090423583984 with a final error of 0.0001263640879187733 after 42 total iterations\n", + "Frame 158 done in 0.008073806762695312 with a final error of 0.00012573540152516216 after 42 total iterations\n", + "Frame 159 done in 0.008333683013916016 with a final error of 0.00012728733418043703 after 44 total iterations\n", + "Frame 160 done in 0.009033918380737305 with a final error of 0.0001302873861277476 after 42 total iterations\n", + "Frame 161 done in 0.008488893508911133 with a final error of 0.0001318721624556929 after 42 total iterations\n", + "Frame 162 done in 0.007976055145263672 with a final error of 0.00013701374700758606 after 44 total iterations\n", + "Frame 163 done in 0.008513927459716797 with a final error of 0.0001425337395630777 after 60 total iterations\n", + "Frame 164 done in 0.008155107498168945 with a final error of 0.00014282776101026684 after 50 total iterations\n", + "Frame 165 done in 0.007652997970581055 with a final error of 0.0001586732396390289 after 22 total iterations\n", + "Frame 166 done in 0.007745027542114258 with a final error of 0.00016288812912534922 after 34 total iterations\n", + "Frame 167 done in 0.007700920104980469 with a final error of 0.00017160538118332624 after 40 total iterations\n", + "Frame 168 done in 0.007712125778198242 with a final error of 0.00017751303676050156 after 42 total iterations\n", + "Frame 169 done in 0.009490966796875 with a final error of 0.00018335274944547564 after 44 total iterations\n", + "Frame 170 done in 0.008086919784545898 with a final error of 0.00018099226872436702 after 42 total iterations\n", + "Frame 171 done in 0.008729934692382812 with a final error of 0.00018233364971820265 after 52 total iterations\n", + "Frame 172 done in 0.008336067199707031 with a final error of 0.00018726859707385302 after 42 total iterations\n", + "Frame 173 done in 0.008052825927734375 with a final error of 0.00019310612697154284 after 49 total iterations\n", + "Frame 174 done in 0.007801055908203125 with a final error of 0.00018952033133246005 after 42 total iterations\n", + "Frame 175 done in 0.008508920669555664 with a final error of 0.00018088244542013854 after 44 total iterations\n", + "Frame 176 done in 0.009702920913696289 with a final error of 0.00018117425497621298 after 42 total iterations\n", + "Frame 177 done in 0.008418083190917969 with a final error of 0.0001760002924129367 after 44 total iterations\n", + "Frame 178 done in 0.007854938507080078 with a final error of 0.00016694700752850622 after 42 total iterations\n", + "Frame 179 done in 0.00870513916015625 with a final error of 0.00016018509631976485 after 44 total iterations\n", + "Frame 180 done in 0.008527040481567383 with a final error of 0.0001568508450873196 after 42 total iterations\n", + "Frame 181 done in 0.00885009765625 with a final error of 0.00016407023940701038 after 52 total iterations\n", + "Frame 182 done in 0.00776982307434082 with a final error of 0.00015198356413748115 after 42 total iterations\n", + "Frame 183 done in 0.007763385772705078 with a final error of 0.00015337868535425514 after 42 total iterations\n", + "Frame 184 done in 0.009050846099853516 with a final error of 0.00014526343147736043 after 42 total iterations\n", + "Frame 185 done in 0.008562088012695312 with a final error of 0.00014153590018395334 after 63 total iterations\n", + "Frame 186 done in 0.009495019912719727 with a final error of 0.00012950392556376755 after 71 total iterations\n", + "Frame 187 done in 0.007823944091796875 with a final error of 0.00013138102076482028 after 30 total iterations\n", + "Frame 188 done in 0.007925033569335938 with a final error of 0.00013844773638993502 after 34 total iterations\n", + "Frame 189 done in 0.00800633430480957 with a final error of 0.00012802697892766446 after 38 total iterations\n", + "Frame 190 done in 0.008970975875854492 with a final error of 0.00013653934001922607 after 46 total iterations\n", + "Frame 191 done in 0.007924079895019531 with a final error of 0.00012846886238548905 after 34 total iterations\n", + "Frame 192 done in 0.007752895355224609 with a final error of 0.00013797738938592374 after 26 total iterations\n", + "Frame 193 done in 0.008622884750366211 with a final error of 0.00013360832235775888 after 38 total iterations\n", + "Frame 194 done in 0.008388280868530273 with a final error of 0.0001406687661074102 after 30 total iterations\n", + "Frame 195 done in 0.007527828216552734 with a final error of 0.0001575823116581887 after 30 total iterations\n", + "Frame 196 done in 0.008725166320800781 with a final error of 0.00014288778766058385 after 68 total iterations\n", + "Frame 197 done in 0.008890867233276367 with a final error of 0.00015859889390412718 after 49 total iterations\n", + "Frame 198 done in 0.007925033569335938 with a final error of 0.0001567658910062164 after 42 total iterations\n", + "Frame 199 done in 0.007966995239257812 with a final error of 0.00015773088671267033 after 44 total iterations\n", + "Frame 200 done in 0.00820612907409668 with a final error of 0.00014937440573703498 after 42 total iterations\n", + "Frame 201 done in 0.009830951690673828 with a final error of 0.0001414967846358195 after 79 total iterations\n", + "Frame 202 done in 0.008002042770385742 with a final error of 0.0001399708417011425 after 47 total iterations\n", + "Frame 203 done in 0.008356809616088867 with a final error of 0.0001388646924169734 after 26 total iterations\n", + "Frame 204 done in 0.007676124572753906 with a final error of 0.0001265095197595656 after 34 total iterations\n", + "Frame 205 done in 0.007784843444824219 with a final error of 0.00012562535994220525 after 22 total iterations\n", + "Frame 206 done in 0.007326841354370117 with a final error of 0.00011943936988245696 after 26 total iterations\n", + "Frame 207 done in 0.007841825485229492 with a final error of 0.00011830403673229739 after 44 total iterations\n", + "Frame 208 done in 0.00867605209350586 with a final error of 0.00010808389924932271 after 42 total iterations\n", + "Frame 209 done in 0.012479066848754883 with a final error of 0.00011227160575799644 after 48 total iterations\n", + "Frame 210 done in 0.008531808853149414 with a final error of 9.807758033275604e-05 after 54 total iterations\n", + "Frame 211 done in 0.008350133895874023 with a final error of 0.00010235625086352229 after 48 total iterations\n", + "Frame 212 done in 0.008845090866088867 with a final error of 8.81300657056272e-05 after 52 total iterations\n", + "Frame 213 done in 0.00840616226196289 with a final error of 8.528646139893681e-05 after 56 total iterations\n", + "Frame 214 done in 0.00844573974609375 with a final error of 8.197221177397296e-05 after 42 total iterations\n", + "Frame 215 done in 0.008284807205200195 with a final error of 8.543214062228799e-05 after 48 total iterations\n", + "Frame 216 done in 0.008085966110229492 with a final error of 7.267021283041686e-05 after 42 total iterations\n", + "Frame 217 done in 0.008825063705444336 with a final error of 8.173516835086048e-05 after 60 total iterations\n", + "Frame 218 done in 0.008334875106811523 with a final error of 7.452872523572296e-05 after 46 total iterations\n", + "Frame 219 done in 0.009135246276855469 with a final error of 7.926330727059394e-05 after 55 total iterations\n", + "Frame 220 done in 0.008891820907592773 with a final error of 8.13387450762093e-05 after 42 total iterations\n", + "Frame 221 done in 0.007816076278686523 with a final error of 8.175382390618324e-05 after 42 total iterations\n", + "Frame 222 done in 0.007714033126831055 with a final error of 8.564828021917492e-05 after 42 total iterations\n", + "Frame 223 done in 0.008017778396606445 with a final error of 8.627233182778582e-05 after 49 total iterations\n", + "Frame 224 done in 0.007737159729003906 with a final error of 8.453337795799598e-05 after 44 total iterations\n", + "Frame 225 done in 0.007812023162841797 with a final error of 8.447612344752997e-05 after 42 total iterations\n", + "Frame 226 done in 0.00818014144897461 with a final error of 8.411509043071419e-05 after 55 total iterations\n", + "Frame 227 done in 0.007749795913696289 with a final error of 8.183732279576361e-05 after 42 total iterations\n", + "Frame 228 done in 0.007751941680908203 with a final error of 7.98711771494709e-05 after 44 total iterations\n", + "Frame 229 done in 0.009081125259399414 with a final error of 8.36334511404857e-05 after 42 total iterations\n", + "Frame 230 done in 0.008105754852294922 with a final error of 8.577181870350614e-05 after 42 total iterations\n", + "Frame 231 done in 0.008275032043457031 with a final error of 8.427611464867368e-05 after 42 total iterations\n", + "Frame 232 done in 0.009078025817871094 with a final error of 8.074655488599092e-05 after 48 total iterations\n", + "Frame 233 done in 0.007318973541259766 with a final error of 8.338222687598318e-05 after 22 total iterations\n", + "Frame 234 done in 0.007974863052368164 with a final error of 7.97226675786078e-05 after 26 total iterations\n", + "Frame 235 done in 0.007472038269042969 with a final error of 8.530818740837276e-05 after 26 total iterations\n", + "Frame 236 done in 0.007335186004638672 with a final error of 8.824633550830185e-05 after 28 total iterations\n", + "Frame 237 done in 0.00782012939453125 with a final error of 8.446212450508028e-05 after 42 total iterations\n", + "Frame 238 done in 0.00864100456237793 with a final error of 9.250835137208924e-05 after 62 total iterations\n", + "Frame 239 done in 0.007867097854614258 with a final error of 8.889530727174133e-05 after 42 total iterations\n", + "Frame 240 done in 0.008153676986694336 with a final error of 9.029522334458306e-05 after 46 total iterations\n", + "Frame 241 done in 0.008238077163696289 with a final error of 8.920012624002993e-05 after 42 total iterations\n", + "Frame 242 done in 0.00789189338684082 with a final error of 9.359666000818834e-05 after 42 total iterations\n", + "Frame 243 done in 0.00772404670715332 with a final error of 9.795354708330706e-05 after 42 total iterations\n", + "Frame 244 done in 0.007958173751831055 with a final error of 0.00010338042193325236 after 46 total iterations\n", + "Frame 245 done in 0.00890803337097168 with a final error of 0.00010957173071801662 after 55 total iterations\n", + "Frame 246 done in 0.008136749267578125 with a final error of 0.00012260691437404603 after 42 total iterations\n", + "Frame 247 done in 0.007271766662597656 with a final error of 0.00014418821956496686 after 26 total iterations\n", + "Frame 248 done in 0.00856924057006836 with a final error of 0.0001620471739443019 after 49 total iterations\n", + "Frame 249 done in 0.008812665939331055 with a final error of 0.00021995291172061116 after 41 total iterations\n", + "Frame 250 done in 0.008332967758178711 with a final error of 0.00023711088579148054 after 49 total iterations\n", + "Mean error: 0.00015007183537818491\n", + "Standard deviation of error: 5.236841388978064e-05\n", + "Mean total iters: 55.656002044677734\n", + "Standard deviation of total iters: 107.47499084472656\n", "starting offset optimization\n", - "Begining offset optimization:\n", - "Final error of 0.0009413688676431775\n", - "offset optimization finished in 0.01792311668395996\n", "Final pose optimization\n", "Pose Optimization:\n", - "Pose Optimization done in 0.28704094886779785\n", - "Frame 1 done in 0.02824997901916504 with a final error of 3.339833483551047e-06\n", - "Frame 2 done in 0.028151750564575195 with a final error of 5.81361973672756e-06\n", - "Frame 3 done in 0.028687238693237305 with a final error of 1.3134792425262276e-05\n", - "Frame 4 done in 0.028594970703125 with a final error of 1.295702259085374e-05\n", - "Frame 5 done in 0.028529882431030273 with a final error of 1.4758122233615723e-05\n", - "Frame 6 done in 0.02926492691040039 with a final error of 1.241929658135632e-05\n", - "Frame 7 done in 0.029896259307861328 with a final error of 1.0499762538529467e-05\n", - "Frame 8 done in 0.027881145477294922 with a final error of 4.285193426767364e-06\n", - "Frame 9 done in 0.02863931655883789 with a final error of 7.278669727384113e-06\n", - "Frame 10 done in 0.02893519401550293 with a final error of 4.782757969223894e-06\n", - "Flattened array shape: (10,)\n", - "Mean: 8.926907867135014e-06\n", - "Standard deviation: 4.061600520799402e-06\n" + "Pose Optimization done in 2.2092349529266357\n", + "Frame 1 done in 0.061888933181762695 with a final error of 0.0003898987779393792 after 1667 total iterations\n", + "Frame 2 done in 0.023962974548339844 with a final error of 0.0002875842619687319 after 474 total iterations\n", + "Frame 3 done in 0.012990951538085938 with a final error of 0.00025516055757179856 after 198 total iterations\n", + "Frame 4 done in 0.010208845138549805 with a final error of 0.00026017881464213133 after 83 total iterations\n", + "Frame 5 done in 0.009871959686279297 with a final error of 0.0002540439018048346 after 77 total iterations\n", + "Frame 6 done in 0.007610797882080078 with a final error of 0.0002820869558490813 after 30 total iterations\n", + "Frame 7 done in 0.008491039276123047 with a final error of 0.00023970697657205164 after 60 total iterations\n", + "Frame 8 done in 0.007789134979248047 with a final error of 0.0002484859724063426 after 36 total iterations\n", + "Frame 9 done in 0.00820302963256836 with a final error of 0.0002435489441268146 after 26 total iterations\n", + "Frame 10 done in 0.008580923080444336 with a final error of 0.0002437186922179535 after 26 total iterations\n", + "Frame 11 done in 0.0076961517333984375 with a final error of 0.00023965074797160923 after 22 total iterations\n", + "Frame 12 done in 0.008378744125366211 with a final error of 0.00022918071772437543 after 34 total iterations\n", + "Frame 13 done in 0.00734710693359375 with a final error of 0.00023091626644600183 after 26 total iterations\n", + "Frame 14 done in 0.008414983749389648 with a final error of 0.0002284962683916092 after 48 total iterations\n", + "Frame 15 done in 0.007925987243652344 with a final error of 0.00021715516049880534 after 44 total iterations\n", + "Frame 16 done in 0.009103059768676758 with a final error of 0.00022285262821242213 after 50 total iterations\n", + "Frame 17 done in 0.008032798767089844 with a final error of 0.0002122822916135192 after 44 total iterations\n", + "Frame 18 done in 0.008298158645629883 with a final error of 0.0002193574619013816 after 50 total iterations\n", + "Frame 19 done in 0.008402109146118164 with a final error of 0.0002088079636450857 after 44 total iterations\n", + "Frame 20 done in 0.009106874465942383 with a final error of 0.00022486336820293218 after 50 total iterations\n", + "Frame 21 done in 0.009156942367553711 with a final error of 0.00021464838937390596 after 44 total iterations\n", + "Frame 22 done in 0.011726140975952148 with a final error of 0.00021936814300715923 after 50 total iterations\n", + "Frame 23 done in 0.008954048156738281 with a final error of 0.00021057258709333837 after 44 total iterations\n", + "Frame 24 done in 0.009762048721313477 with a final error of 0.00021968266810290515 after 50 total iterations\n", + "Frame 25 done in 0.009266138076782227 with a final error of 0.00020787108223885298 after 49 total iterations\n", + "Frame 26 done in 0.008242130279541016 with a final error of 0.00021517467394005507 after 52 total iterations\n", + "Frame 27 done in 0.008402824401855469 with a final error of 0.00020798435434699059 after 56 total iterations\n", + "Frame 28 done in 0.009068012237548828 with a final error of 0.00020811318245250732 after 47 total iterations\n", + "Frame 29 done in 0.009172916412353516 with a final error of 0.00022977113258093596 after 53 total iterations\n", + "Frame 30 done in 0.007404804229736328 with a final error of 0.0002708396641537547 after 22 total iterations\n", + "Frame 31 done in 0.008478879928588867 with a final error of 0.0002743572404142469 after 39 total iterations\n", + "Frame 32 done in 0.009897947311401367 with a final error of 0.0002578634303063154 after 56 total iterations\n", + "Frame 33 done in 0.008706092834472656 with a final error of 0.00023998378310352564 after 56 total iterations\n", + "Frame 34 done in 0.009999275207519531 with a final error of 0.00025352410739287734 after 40 total iterations\n", + "Frame 35 done in 0.00948476791381836 with a final error of 0.0002551583747845143 after 72 total iterations\n", + "Frame 36 done in 0.011530160903930664 with a final error of 0.00023696996504440904 after 147 total iterations\n", + "Frame 37 done in 0.010834932327270508 with a final error of 0.00017959973774850368 after 112 total iterations\n", + "Frame 38 done in 0.009180307388305664 with a final error of 0.00019197211076971143 after 80 total iterations\n", + "Frame 39 done in 0.008095026016235352 with a final error of 0.0002030779141932726 after 45 total iterations\n", + "Frame 40 done in 0.008005857467651367 with a final error of 0.00020271373796276748 after 44 total iterations\n", + "Frame 41 done in 0.008179903030395508 with a final error of 0.00020537743694148958 after 51 total iterations\n", + "Frame 42 done in 0.008079051971435547 with a final error of 0.0001936661428771913 after 40 total iterations\n", + "Frame 43 done in 0.008314847946166992 with a final error of 0.00020110764307901263 after 40 total iterations\n", + "Frame 44 done in 0.007825136184692383 with a final error of 0.00018707072013057768 after 40 total iterations\n", + "Frame 45 done in 0.00811910629272461 with a final error of 0.00017988459148909897 after 48 total iterations\n", + "Frame 46 done in 0.00790715217590332 with a final error of 0.000183338881470263 after 22 total iterations\n", + "Frame 47 done in 0.008215188980102539 with a final error of 0.00017636915436014533 after 47 total iterations\n", + "Frame 48 done in 0.008304834365844727 with a final error of 0.00017683942860458046 after 49 total iterations\n", + "Frame 49 done in 0.008227109909057617 with a final error of 0.00016977830091491342 after 42 total iterations\n", + "Frame 50 done in 0.008275985717773438 with a final error of 0.00017623452004045248 after 48 total iterations\n", + "Frame 51 done in 0.007782936096191406 with a final error of 0.0001691988145466894 after 42 total iterations\n", + "Frame 52 done in 0.008144140243530273 with a final error of 0.0001791224640328437 after 48 total iterations\n", + "Frame 53 done in 0.008135795593261719 with a final error of 0.00016845291247591376 after 55 total iterations\n", + "Frame 54 done in 0.0076999664306640625 with a final error of 0.0001625737058930099 after 26 total iterations\n", + "Frame 55 done in 0.0076999664306640625 with a final error of 0.0001588614541105926 after 38 total iterations\n", + "Frame 56 done in 0.007547140121459961 with a final error of 0.0001637660025153309 after 26 total iterations\n", + "Frame 57 done in 0.007581949234008789 with a final error of 0.0001586228609085083 after 34 total iterations\n", + "Frame 58 done in 0.00834202766418457 with a final error of 0.00015605123189743608 after 42 total iterations\n", + "Frame 59 done in 0.008502960205078125 with a final error of 0.00015320314560085535 after 42 total iterations\n", + "Frame 60 done in 0.008962154388427734 with a final error of 0.00014960291446186602 after 60 total iterations\n", + "Frame 61 done in 0.007810115814208984 with a final error of 0.00014694231504108757 after 42 total iterations\n", + "Frame 62 done in 0.008389949798583984 with a final error of 0.00014437577920034528 after 54 total iterations\n", + "Frame 63 done in 0.008358001708984375 with a final error of 0.0001466407993575558 after 42 total iterations\n", + "Frame 64 done in 0.008754730224609375 with a final error of 0.00014297313464339823 after 57 total iterations\n", + "Frame 65 done in 0.007781028747558594 with a final error of 0.00014327646931633353 after 42 total iterations\n", + "Frame 66 done in 0.008357048034667969 with a final error of 0.00014073040802031755 after 57 total iterations\n", + "Frame 67 done in 0.007802009582519531 with a final error of 0.00014184426981955767 after 42 total iterations\n", + "Frame 68 done in 0.009311914443969727 with a final error of 0.00013790716184303164 after 57 total iterations\n", + "Frame 69 done in 0.00789022445678711 with a final error of 0.0001389553362969309 after 42 total iterations\n", + "Frame 70 done in 0.008484840393066406 with a final error of 0.00013575614138972014 after 57 total iterations\n", + "Frame 71 done in 0.00791788101196289 with a final error of 0.00013765052426606417 after 42 total iterations\n", + "Frame 72 done in 0.008433818817138672 with a final error of 0.00013500958448275924 after 57 total iterations\n", + "Frame 73 done in 0.007642030715942383 with a final error of 0.00013614166527986526 after 42 total iterations\n", + "Frame 74 done in 0.008313894271850586 with a final error of 0.0001335506676696241 after 47 total iterations\n", + "Frame 75 done in 0.007787942886352539 with a final error of 0.00013452349230647087 after 42 total iterations\n", + "Frame 76 done in 0.008126974105834961 with a final error of 0.00013462561764754355 after 42 total iterations\n", + "Frame 77 done in 0.007866859436035156 with a final error of 0.00013607286382466555 after 42 total iterations\n", + "Frame 78 done in 0.008176088333129883 with a final error of 0.00013698177644982934 after 52 total iterations\n", + "Frame 79 done in 0.007976055145263672 with a final error of 0.00013638481323141605 after 42 total iterations\n", + "Frame 80 done in 0.008279085159301758 with a final error of 0.00013677598326466978 after 42 total iterations\n", + "Frame 81 done in 0.007995843887329102 with a final error of 0.000136867820401676 after 42 total iterations\n", + "Frame 82 done in 0.0077817440032958984 with a final error of 0.0001360862806905061 after 42 total iterations\n", + "Frame 83 done in 0.007731199264526367 with a final error of 0.00013697489339392632 after 42 total iterations\n", + "Frame 84 done in 0.008493900299072266 with a final error of 0.0001363373885396868 after 42 total iterations\n", + "Frame 85 done in 0.00782322883605957 with a final error of 0.00013788111391477287 after 42 total iterations\n", + "Frame 86 done in 0.008126974105834961 with a final error of 0.00013778582797385752 after 42 total iterations\n", + "Frame 87 done in 0.007907867431640625 with a final error of 0.0001377526205033064 after 42 total iterations\n", + "Frame 88 done in 0.009786128997802734 with a final error of 0.00013684113218914717 after 42 total iterations\n", + "Frame 89 done in 0.007863759994506836 with a final error of 0.00013638849486596882 after 42 total iterations\n", + "Frame 90 done in 0.007697105407714844 with a final error of 0.00013778769061900675 after 42 total iterations\n", + "Frame 91 done in 0.007820844650268555 with a final error of 0.000137721945066005 after 42 total iterations\n", + "Frame 92 done in 0.007693052291870117 with a final error of 0.00013818562729284167 after 42 total iterations\n", + "Frame 93 done in 0.00776219367980957 with a final error of 0.00014009923324920237 after 42 total iterations\n", + "Frame 94 done in 0.007889032363891602 with a final error of 0.00014116009697318077 after 42 total iterations\n", + "Frame 95 done in 0.009947061538696289 with a final error of 0.00014050680329091847 after 44 total iterations\n", + "Frame 96 done in 0.009041070938110352 with a final error of 0.0001376776781398803 after 46 total iterations\n", + "Frame 97 done in 0.008373737335205078 with a final error of 0.0001343570475000888 after 44 total iterations\n", + "Frame 98 done in 0.007920026779174805 with a final error of 0.00013220167602412403 after 44 total iterations\n", + "Frame 99 done in 0.00839090347290039 with a final error of 0.0001228810870088637 after 64 total iterations\n", + "Frame 100 done in 0.007967948913574219 with a final error of 0.00012854390661232173 after 46 total iterations\n", + "Frame 101 done in 0.009312868118286133 with a final error of 0.00013380842574406415 after 41 total iterations\n", + "Frame 102 done in 0.008270740509033203 with a final error of 0.0001229614281328395 after 44 total iterations\n", + "Frame 103 done in 0.008703947067260742 with a final error of 0.00012054650869686157 after 42 total iterations\n", + "Frame 104 done in 0.009190082550048828 with a final error of 0.00011560676648514345 after 26 total iterations\n", + "Frame 105 done in 0.008118629455566406 with a final error of 0.00012333792983554304 after 30 total iterations\n", + "Frame 106 done in 0.008968830108642578 with a final error of 0.00012301317474339157 after 22 total iterations\n", + "Frame 107 done in 0.00969696044921875 with a final error of 0.0001087135387933813 after 38 total iterations\n", + "Frame 108 done in 0.009721040725708008 with a final error of 0.00010753273090813309 after 63 total iterations\n", + "Frame 109 done in 0.009026765823364258 with a final error of 0.00011090424231952056 after 62 total iterations\n", + "Frame 110 done in 0.007915019989013672 with a final error of 0.00010749025386758149 after 22 total iterations\n", + "Frame 111 done in 0.008315324783325195 with a final error of 0.00010226221638731658 after 42 total iterations\n", + "Frame 112 done in 0.010426759719848633 with a final error of 9.27400978980586e-05 after 75 total iterations\n", + "Frame 113 done in 0.007647037506103516 with a final error of 0.00010731125075835735 after 32 total iterations\n", + "Frame 114 done in 0.008988142013549805 with a final error of 9.888236672850326e-05 after 71 total iterations\n", + "Frame 115 done in 0.008278846740722656 with a final error of 0.00012779084499925375 after 34 total iterations\n", + "Frame 116 done in 0.0076410770416259766 with a final error of 0.00014634121907874942 after 31 total iterations\n", + "Frame 117 done in 0.00825810432434082 with a final error of 0.00012132980191381648 after 58 total iterations\n", + "Frame 118 done in 0.010467767715454102 with a final error of 0.00013502970978152007 after 56 total iterations\n", + "Frame 119 done in 0.008921146392822266 with a final error of 0.0001433869474567473 after 56 total iterations\n", + "Frame 120 done in 0.00817418098449707 with a final error of 0.00014038311201147735 after 40 total iterations\n", + "Frame 121 done in 0.008085012435913086 with a final error of 0.00015060216537676752 after 45 total iterations\n", + "Frame 122 done in 0.007863759994506836 with a final error of 0.00013878800382371992 after 45 total iterations\n", + "Frame 123 done in 0.008388280868530273 with a final error of 0.0001361253671348095 after 34 total iterations\n", + "Frame 124 done in 0.008186817169189453 with a final error of 0.00014726025983691216 after 22 total iterations\n", + "Frame 125 done in 0.00811314582824707 with a final error of 0.0001321762683801353 after 42 total iterations\n", + "Frame 126 done in 0.00906991958618164 with a final error of 0.00011991237988695502 after 76 total iterations\n", + "Frame 127 done in 0.010421037673950195 with a final error of 0.00012301295646466315 after 42 total iterations\n", + "Frame 128 done in 0.00951695442199707 with a final error of 0.00012510947999544442 after 70 total iterations\n", + "Frame 129 done in 0.007986783981323242 with a final error of 0.00011607153282966465 after 34 total iterations\n", + "Frame 130 done in 0.009809732437133789 with a final error of 0.00010331885277992114 after 102 total iterations\n", + "Frame 131 done in 0.008138895034790039 with a final error of 0.0001080692745745182 after 47 total iterations\n", + "Frame 132 done in 0.008253097534179688 with a final error of 9.997808956541121e-05 after 55 total iterations\n", + "Frame 133 done in 0.008304119110107422 with a final error of 0.0001108693249989301 after 44 total iterations\n", + "Frame 134 done in 0.009248018264770508 with a final error of 0.00010014935105573386 after 44 total iterations\n", + "Frame 135 done in 0.00849294662475586 with a final error of 9.958383452612907e-05 after 42 total iterations\n", + "Frame 136 done in 0.008507013320922852 with a final error of 9.762306581251323e-05 after 44 total iterations\n", + "Frame 137 done in 0.008170127868652344 with a final error of 0.00010725219908636063 after 48 total iterations\n", + "Frame 138 done in 0.007809162139892578 with a final error of 9.633006266085431e-05 after 44 total iterations\n", + "Frame 139 done in 0.009387016296386719 with a final error of 0.00010569942242000252 after 52 total iterations\n", + "Frame 140 done in 0.007992982864379883 with a final error of 9.505434718448669e-05 after 46 total iterations\n", + "Frame 141 done in 0.008421182632446289 with a final error of 0.00010244280565530062 after 53 total iterations\n", + "Frame 142 done in 0.008785009384155273 with a final error of 8.950033225119114e-05 after 50 total iterations\n", + "Frame 143 done in 0.008114814758300781 with a final error of 8.88643553480506e-05 after 44 total iterations\n", + "Frame 144 done in 0.008069992065429688 with a final error of 9.852951916400343e-05 after 52 total iterations\n", + "Frame 145 done in 0.008108854293823242 with a final error of 9.078656148631126e-05 after 44 total iterations\n", + "Frame 146 done in 0.008002042770385742 with a final error of 9.39874880714342e-05 after 44 total iterations\n", + "Frame 147 done in 0.00825810432434082 with a final error of 0.00010513535380596295 after 55 total iterations\n", + "Frame 148 done in 0.007901906967163086 with a final error of 0.00010011764243245125 after 44 total iterations\n", + "Frame 149 done in 0.008356094360351562 with a final error of 0.00011827004345832393 after 52 total iterations\n", + "Frame 150 done in 0.007827043533325195 with a final error of 0.00011209269723622128 after 44 total iterations\n", + "Frame 151 done in 0.008415937423706055 with a final error of 0.00012624777446035296 after 48 total iterations\n", + "Frame 152 done in 0.008302688598632812 with a final error of 0.00012388694449327886 after 46 total iterations\n", + "Frame 153 done in 0.008825063705444336 with a final error of 0.00013333317474462092 after 50 total iterations\n", + "Frame 154 done in 0.00900578498840332 with a final error of 0.00012287691060919315 after 53 total iterations\n", + "Frame 155 done in 0.00859212875366211 with a final error of 0.00013108758139424026 after 52 total iterations\n", + "Frame 156 done in 0.008073091506958008 with a final error of 0.00012379910913296044 after 48 total iterations\n", + "Frame 157 done in 0.008395910263061523 with a final error of 0.00013271093484945595 after 52 total iterations\n", + "Frame 158 done in 0.008722066879272461 with a final error of 0.00012201412755530328 after 55 total iterations\n", + "Frame 159 done in 0.008305788040161133 with a final error of 0.00012302807590458542 after 42 total iterations\n", + "Frame 160 done in 0.008170366287231445 with a final error of 0.00013606439461000264 after 52 total iterations\n", + "Frame 161 done in 0.008708715438842773 with a final error of 0.00012588428216986358 after 48 total iterations\n", + "Frame 162 done in 0.009984970092773438 with a final error of 0.0001410352560924366 after 52 total iterations\n", + "Frame 163 done in 0.008498907089233398 with a final error of 0.00013550139556173235 after 42 total iterations\n", + "Frame 164 done in 0.008177995681762695 with a final error of 0.0001359739835606888 after 46 total iterations\n", + "Frame 165 done in 0.009014129638671875 with a final error of 0.00015391191118396819 after 50 total iterations\n", + "Frame 166 done in 0.008877992630004883 with a final error of 0.00014639047731179744 after 66 total iterations\n", + "Frame 167 done in 0.009472131729125977 with a final error of 0.00016764269093982875 after 52 total iterations\n", + "Frame 168 done in 0.008647918701171875 with a final error of 0.00016260470147244632 after 55 total iterations\n", + "Frame 169 done in 0.007838964462280273 with a final error of 0.00017406491679139435 after 36 total iterations\n", + "Frame 170 done in 0.009992122650146484 with a final error of 0.00015957027790136635 after 84 total iterations\n", + "Frame 171 done in 0.007678985595703125 with a final error of 0.00017409128486178815 after 22 total iterations\n", + "Frame 172 done in 0.0074710845947265625 with a final error of 0.0001730275253066793 after 30 total iterations\n", + "Frame 173 done in 0.00757598876953125 with a final error of 0.00018487627676222473 after 22 total iterations\n", + "Frame 174 done in 0.009701013565063477 with a final error of 0.00018541095778346062 after 40 total iterations\n", + "Frame 175 done in 0.008471965789794922 with a final error of 0.00017238954023923725 after 58 total iterations\n", + "Frame 176 done in 0.009107112884521484 with a final error of 0.00017439454677514732 after 44 total iterations\n", + "Frame 177 done in 0.008255958557128906 with a final error of 0.00017026078421622515 after 42 total iterations\n", + "Frame 178 done in 0.008273839950561523 with a final error of 0.00016122718807309866 after 44 total iterations\n", + "Frame 179 done in 0.007719278335571289 with a final error of 0.00015529431402683258 after 44 total iterations\n", + "Frame 180 done in 0.00812077522277832 with a final error of 0.00016079007764346898 after 52 total iterations\n", + "Frame 181 done in 0.008394956588745117 with a final error of 0.0001492633018642664 after 44 total iterations\n", + "Frame 182 done in 0.010232925415039062 with a final error of 0.00014715149882249534 after 86 total iterations\n", + "Frame 183 done in 0.008816957473754883 with a final error of 0.00015516333223786205 after 52 total iterations\n", + "Frame 184 done in 0.008412837982177734 with a final error of 0.0001359582383884117 after 42 total iterations\n", + "Frame 185 done in 0.008415937423706055 with a final error of 0.00013749164645560086 after 44 total iterations\n", + "Frame 186 done in 0.009362220764160156 with a final error of 0.0001237557444255799 after 71 total iterations\n", + "Frame 187 done in 0.0076751708984375 with a final error of 0.00012549663370009512 after 42 total iterations\n", + "Frame 188 done in 0.01021265983581543 with a final error of 0.00012502979370765388 after 90 total iterations\n", + "Frame 189 done in 0.008804082870483398 with a final error of 0.0001151234027929604 after 60 total iterations\n", + "Frame 190 done in 0.010326147079467773 with a final error of 0.00011277642624918371 after 91 total iterations\n", + "Frame 191 done in 0.00913095474243164 with a final error of 0.00011657923460006714 after 62 total iterations\n", + "Frame 192 done in 0.0072689056396484375 with a final error of 0.00011999175330856815 after 22 total iterations\n", + "Frame 193 done in 0.008320093154907227 with a final error of 0.00011672452092170715 after 42 total iterations\n", + "Frame 194 done in 0.008787870407104492 with a final error of 0.00011350581189617515 after 69 total iterations\n", + "Frame 195 done in 0.00861215591430664 with a final error of 0.00012405925372149795 after 62 total iterations\n", + "Frame 196 done in 0.007963895797729492 with a final error of 0.0001319861621595919 after 42 total iterations\n", + "Frame 197 done in 0.008855104446411133 with a final error of 0.00015136141155380756 after 61 total iterations\n", + "Frame 198 done in 0.008439064025878906 with a final error of 0.00015173705469351262 after 46 total iterations\n", + "Frame 199 done in 0.008340835571289062 with a final error of 0.00014446015120483935 after 44 total iterations\n", + "Frame 200 done in 0.010098934173583984 with a final error of 0.00014012733299750835 after 46 total iterations\n", + "Frame 201 done in 0.00869131088256836 with a final error of 0.0001476289180573076 after 53 total iterations\n", + "Frame 202 done in 0.007951021194458008 with a final error of 0.00013587383728008717 after 42 total iterations\n", + "Frame 203 done in 0.00806283950805664 with a final error of 0.00013878720346838236 after 46 total iterations\n", + "Frame 204 done in 0.008058309555053711 with a final error of 0.0001228506152983755 after 44 total iterations\n", + "Frame 205 done in 0.00866389274597168 with a final error of 0.00012607721146196127 after 55 total iterations\n", + "Frame 206 done in 0.008573055267333984 with a final error of 0.00012030630023218691 after 52 total iterations\n", + "Frame 207 done in 0.008346796035766602 with a final error of 0.00010647836461430416 after 42 total iterations\n", + "Frame 208 done in 0.007789134979248047 with a final error of 0.00010597419168334454 after 44 total iterations\n", + "Frame 209 done in 0.008026838302612305 with a final error of 0.00010008782555814832 after 49 total iterations\n", + "Frame 210 done in 0.008236169815063477 with a final error of 0.00010598140943329781 after 52 total iterations\n", + "Frame 211 done in 0.010169029235839844 with a final error of 9.202151704812422e-05 after 42 total iterations\n", + "Frame 212 done in 0.009417295455932617 with a final error of 9.557550947647542e-05 after 52 total iterations\n", + "Frame 213 done in 0.008871078491210938 with a final error of 8.307337702717632e-05 after 51 total iterations\n", + "Frame 214 done in 0.008352994918823242 with a final error of 7.980020745890215e-05 after 44 total iterations\n", + "Frame 215 done in 0.008651971817016602 with a final error of 7.261148130055517e-05 after 42 total iterations\n", + "Frame 216 done in 0.00809788703918457 with a final error of 7.002965867286548e-05 after 42 total iterations\n", + "Frame 217 done in 0.008080005645751953 with a final error of 6.901469896547496e-05 after 42 total iterations\n", + "Frame 218 done in 0.007973194122314453 with a final error of 7.267086039064452e-05 after 44 total iterations\n", + "Frame 219 done in 0.008310079574584961 with a final error of 7.698347326368093e-05 after 42 total iterations\n", + "Frame 220 done in 0.008402109146118164 with a final error of 7.535744225606322e-05 after 53 total iterations\n", + "Frame 221 done in 0.008235931396484375 with a final error of 7.736790576018393e-05 after 42 total iterations\n", + "Frame 222 done in 0.009737014770507812 with a final error of 7.940149225760251e-05 after 72 total iterations\n", + "Frame 223 done in 0.009853124618530273 with a final error of 8.900558896129951e-05 after 57 total iterations\n", + "Frame 224 done in 0.008313894271850586 with a final error of 7.86515956860967e-05 after 44 total iterations\n", + "Frame 225 done in 0.009528160095214844 with a final error of 8.951603376772255e-05 after 52 total iterations\n", + "Frame 226 done in 0.008517980575561523 with a final error of 7.893685688031837e-05 after 42 total iterations\n", + "Frame 227 done in 0.00820016860961914 with a final error of 7.753176032565534e-05 after 44 total iterations\n", + "Frame 228 done in 0.00939178466796875 with a final error of 7.469550473615527e-05 after 66 total iterations\n", + "Frame 229 done in 0.008085966110229492 with a final error of 8.033150515984744e-05 after 42 total iterations\n", + "Frame 230 done in 0.008261919021606445 with a final error of 8.190659718820825e-05 after 42 total iterations\n", + "Frame 231 done in 0.008049964904785156 with a final error of 8.968518523033708e-05 after 52 total iterations\n", + "Frame 232 done in 0.00908517837524414 with a final error of 7.56344452383928e-05 after 47 total iterations\n", + "Frame 233 done in 0.007977008819580078 with a final error of 7.581304816994816e-05 after 44 total iterations\n", + "Frame 234 done in 0.008010149002075195 with a final error of 7.711345097050071e-05 after 42 total iterations\n", + "Frame 235 done in 0.008027791976928711 with a final error of 7.878217729739845e-05 after 44 total iterations\n", + "Frame 236 done in 0.008070230484008789 with a final error of 8.182537567336112e-05 after 42 total iterations\n", + "Frame 237 done in 0.007863759994506836 with a final error of 8.23281443445012e-05 after 44 total iterations\n", + "Frame 238 done in 0.007946968078613281 with a final error of 8.55575199238956e-05 after 42 total iterations\n", + "Frame 239 done in 0.00939798355102539 with a final error of 8.87873611645773e-05 after 61 total iterations\n", + "Frame 240 done in 0.008496999740600586 with a final error of 8.68986317072995e-05 after 42 total iterations\n", + "Frame 241 done in 0.00807499885559082 with a final error of 8.597356645623222e-05 after 42 total iterations\n", + "Frame 242 done in 0.008095979690551758 with a final error of 9.061206947080791e-05 after 44 total iterations\n", + "Frame 243 done in 0.008036136627197266 with a final error of 9.640267671784386e-05 after 42 total iterations\n", + "Frame 244 done in 0.008166790008544922 with a final error of 0.00010002586350310594 after 42 total iterations\n", + "Frame 245 done in 0.008672952651977539 with a final error of 0.00010730246140155941 after 44 total iterations\n", + "Frame 246 done in 0.009752035140991211 with a final error of 0.00012258015340194106 after 38 total iterations\n", + "Frame 247 done in 0.009560823440551758 with a final error of 0.00013694925291929394 after 38 total iterations\n", + "Frame 248 done in 0.009676933288574219 with a final error of 0.0001683536102063954 after 60 total iterations\n", + "Frame 249 done in 0.008682966232299805 with a final error of 0.00020501745166257024 after 42 total iterations\n", + "Frame 250 done in 0.008939027786254883 with a final error of 0.00025162988458760083 after 52 total iterations\n", + "Mean error: 0.00014491409820038825\n", + "Standard deviation of error: 5.088666148367338e-05\n", + "Mean total iters: 56.540000915527344\n", + "Standard deviation of total iters: 106.91610717773438\n" ] } ], "source": [ "fit_path, transform_path = stac_mjx.run_stac(\n", - " stac_cfg, \n", - " model_cfg, \n", + " cfg,\n", " kp_data, \n", " sorted_kp_names, \n", " base_path=base_path\n", diff --git a/demos/viz_usage.ipynb b/demos/viz_usage.ipynb index cc0c84e..e4dfe0e 100644 --- a/demos/viz_usage.ipynb +++ b/demos/viz_usage.ipynb @@ -50,7 +50,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 4, "metadata": { "tags": [] }, @@ -59,18 +59,14 @@ "name": "stderr", "output_type": "stream", "text": [ - "/Users/charleszhang/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/imageio_ffmpeg/_utils.py:7: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html\n", - " from pkg_resources import resource_filename\n", - "0it [00:00, ?it/s]/Users/charleszhang/miniforge3/envs/stac-mjx/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.\n", - " self.pid = _fork_exec(\n", - "10it [00:00, 14.52it/s]\n" + "250it [00:04, 51.98it/s]\n" ] }, { "data": { "text/html": [ "
" ], @@ -84,8 +80,8 @@ ], "source": [ "# set args\n", - "data_path = base_path / \"demos/demo_viz.p\"\n", - "n_frames = 10\n", + "data_path = base_path / \"fit_rodent_8_29.p\"\n", + "n_frames = 250\n", "save_path = base_path / \"videos/direct_render.mp4\"\n", "\n", "# Call mujoco_viz\n", @@ -95,6 +91,13 @@ "media.show_video(frames, fps=model_cfg[\"RENDER_FPS\"])" ] }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, { "cell_type": "code", "execution_count": null, diff --git a/run_rodent.py b/run_rodent.py index 432954a..3164ea6 100644 --- a/run_rodent.py +++ b/run_rodent.py @@ -12,14 +12,14 @@ from pathlib import Path -def load_and_run_stac(stac_cfg, model_cfg): +def load_and_run_stac(cfg): base_path = Path.cwd() - data_path = base_path / stac_cfg.data_path - kp_data, sorted_kp_names = utils.load_data(data_path, model_cfg) + data_path = base_path / cfg.stac.data_path + kp_data, sorted_kp_names = utils.load_data(data_path, cfg) fit_path, transform_path = main.run_stac( - stac_cfg, model_cfg, kp_data, sorted_kp_names, base_path=base_path + cfg, kp_data, sorted_kp_names, base_path=base_path ) logging.info( @@ -27,13 +27,14 @@ def load_and_run_stac(stac_cfg, model_cfg): ) -@hydra.main(config_path="./configs", config_name="stac", version_base=None) -def hydra_entry(stac_cfg: DictConfig): +@hydra.main(config_path="./configs", config_name="config", version_base=None) +def hydra_entry(cfg: DictConfig): + logging.info(f"cfg: {OmegaConf.to_yaml(cfg)}") # Initialize configs - model_cfg = hydra.compose(config_name="rodent") - logging.info(f"cfg: {OmegaConf.to_yaml(stac_cfg)}") - logging.info(f"model_cfg: {OmegaConf.to_yaml(model_cfg)}") - model_cfg = OmegaConf.to_container(model_cfg, resolve=True) + # model_cfg = hydra.compose(config_name="rodent") + # logging.info(f"cfg: {OmegaConf.to_yaml(stac_cfg)}") + # logging.info(f"model_cfg: {OmegaConf.to_yaml(model_cfg)}") + # model_cfg = OmegaConf.to_container(model_cfg, resolve=True) # XLA flags for Nvidia GPU if xla_bridge.get_backend().platform == "gpu": @@ -42,7 +43,7 @@ def hydra_entry(stac_cfg: DictConfig): "--xla_gpu_triton_gemm_any=True " ) - load_and_run_stac(stac_cfg, model_cfg) + load_and_run_stac(cfg) if __name__ == "__main__": diff --git a/stac_mjx/controller.py b/stac_mjx/controller.py index 8837875..77138e2 100644 --- a/stac_mjx/controller.py +++ b/stac_mjx/controller.py @@ -16,11 +16,10 @@ from stac_mjx import compute_stac from stac_mjx import operations as op -from omegaconf import DictConfig +from omegaconf import OmegaConf, DictConfig from typing import List, Union, Dict from pathlib import Path from copy import deepcopy - import imageio from tqdm import tqdm @@ -35,9 +34,7 @@ class STAC: """Main class with key functionality for skeletal registration and rendering.""" - def __init__( - self, xml_path: str, stac_cfg: DictConfig, model_cfg: Dict, kp_names: List[str] - ): + def __init__(self, xml_path: str, cfg: DictConfig, kp_names: List[str]): """Init STAC class, taking values from configs and creating values needed for stac. Args: @@ -46,8 +43,9 @@ def __init__( model_cfg (Dict): Model config file. kp_names (List[str]): Ordered list of mocap keypoint names. """ - self.stac_cfg = stac_cfg - self.model_cfg = model_cfg + # self.stac_cfg = stac_cfg + # self.model_cfg = model_cfg + self.cfg = cfg self._kp_names = kp_names self._root = mjcf.from_path(xml_path) ( @@ -60,16 +58,16 @@ def __init__( self._indiv_parts = self.part_opt_setup() self._trunk_kps = jp.array( - [n in self.model_cfg["TRUNK_OPTIMIZATION_KEYPOINTS"] for n in kp_names], + [n in self.cfg.model.TRUNK_OPTIMIZATION_KEYPOINTS for n in kp_names], ) mj_model.opt.solver = { "cg": mujoco.mjtSolver.mjSOL_CG, "newton": mujoco.mjtSolver.mjSOL_NEWTON, - }[stac_cfg.mujoco.solver.lower()] + }[cfg.stac.mujoco.solver.lower()] - mj_model.opt.iterations = stac_cfg.mujoco.iterations - mj_model.opt.ls_iterations = stac_cfg.mujoco.ls_iterations + mj_model.opt.iterations = cfg.stac.mujoco.iterations + mj_model.opt.ls_iterations = cfg.stac.mujoco.ls_iterations # Runs faster on GPU with this mj_model.opt.jacobian = 0 # dense @@ -96,13 +94,13 @@ def get_part_ids(parts: List) -> jp.ndarray: [any(part in name for part in parts) for name in self._part_names] ) - if self.model_cfg["INDIVIDUAL_PART_OPTIMIZATION"] is None: + if self.cfg.model.INDIVIDUAL_PART_OPTIMIZATION is None: indiv_parts = [] else: indiv_parts = jp.array( [ get_part_ids(parts) - for parts in self.model_cfg["INDIVIDUAL_PART_OPTIMIZATION"].values() + for parts in self.cfg.model.INDIVIDUAL_PART_OPTIMIZATION.values() ] ) @@ -117,9 +115,9 @@ def _create_body_sites(self, root: mjcf.Element): Returns: dmcontrol.Physics, mujoco.Model: """ - for key, v in self.model_cfg["KEYPOINT_MODEL_PAIRS"].items(): + for key, v in self.cfg.model.KEYPOINT_MODEL_PAIRS.items(): parent = root.find("body", v) - pos = self.model_cfg["KEYPOINT_INITIAL_OFFSETS"][key] + pos = self.cfg.model.KEYPOINT_INITIAL_OFFSETS[key] parent.add( "site", name=key, @@ -132,15 +130,15 @@ def _create_body_sites(self, root: mjcf.Element): rescale.rescale_subtree( root, - self.model_cfg["SCALE_FACTOR"], - self.model_cfg["SCALE_FACTOR"], + self.cfg.model.SCALE_FACTOR, + self.cfg.model.SCALE_FACTOR, ) physics = mjcf.Physics.from_mjcf_model(root) axis = physics.named.model.site_pos._axes[0] site_index_map = { key: int(axis.convert_key_item(key)) - for key in self.model_cfg["KEYPOINT_MODEL_PAIRS"].keys() + for key in self.cfg.model.KEYPOINT_MODEL_PAIRS.keys() } part_names = _ROOT_NAMES + physics.named.data.qpos.axes.row.names @@ -149,7 +147,7 @@ def _create_body_sites(self, root: mjcf.Element): # Define which offsets to regularize is_regularized = [] for k in site_index_map.keys(): - if any(n == k for n in self.model_cfg.get("SITES_TO_REGULARIZE", [])): + if any(n == k for n in self.cfg.model.get("SITES_TO_REGULARIZE", [])): is_regularized.append(jp.array([1.0, 1.0, 1.0])) else: is_regularized.append(jp.array([0.0, 0.0, 0.0])) @@ -166,7 +164,7 @@ def _create_body_sites(self, root: mjcf.Element): def _chunk_kp_data(self, kp_data): """Reshape data for parallel processing.""" - n_frames = self.model_cfg["N_FRAMES_PER_CLIP"] + n_frames = self.cfg.model.N_FRAMES_PER_CLIP total_frames = kp_data.shape[0] n_chunks = int(total_frames / n_frames) @@ -224,8 +222,8 @@ def fit(self, kp_data): self._trunk_kps, ) - for n_iter in range(self.model_cfg["N_ITERS"]): - print(f"Calibration iteration: {n_iter + 1}/{self.model_cfg['N_ITERS']}") + for n_iter in range(self.cfg.model.N_ITERS): + print(f"Calibration iteration: {n_iter + 1}/{self.cfg.model.N_ITERS}") mjx_data, q, walker_body_sites, x, frame_time, frame_error = ( compute_stac.pose_optimization( mjx_model, @@ -254,10 +252,10 @@ def fit(self, kp_data): kp_data, self._offsets, q, - self.model_cfg["N_SAMPLE_FRAMES"], + self.cfg.model.N_SAMPLE_FRAMES, self._is_regularized, self._body_site_idxs, - self.model_cfg["M_REG_COEF"], + self.cfg.model.M_REG_COEF, ) # Optimize the pose for the whole sequence @@ -387,7 +385,7 @@ def _package_data(self, mjx_model, q, x, walker_body_sites, kp_data, batched=Fal data = {} - for k, v in self.model_cfg.items(): + for k, v in OmegaConf.to_container(self.cfg.model, resolve=True).items(): data[k] = v data.update( @@ -414,9 +412,9 @@ def _create_keypoint_sites(self): keypoint_sites = [] keypoint_site_names = [] # set up keypoint rendering by adding the kp sites to the root body - for id, name in enumerate(self.model_cfg["KEYPOINT_MODEL_PAIRS"]): + for id, name in enumerate(self.cfg.model.KEYPOINT_MODEL_PAIRS): start = (np.random.rand(3) - 0.5) * 0.001 - rgba = self.model_cfg["KEYPOINT_COLOR_PAIRS"][name] + rgba = self.cfg.model.KEYPOINT_COLOR_PAIRS[name] site_name = name + "_kp" keypoint_site_names.append(site_name) site = self._root.worldbody.add( @@ -436,11 +434,11 @@ def _create_keypoint_sites(self): # Combine the two lists of site names and create the index map site_index_map = { key: int(axis.convert_key_item(key)) - for key in list(self.model_cfg["KEYPOINT_MODEL_PAIRS"].keys()) + for key in list(self.cfg.model.KEYPOINT_MODEL_PAIRS.keys()) + keypoint_site_names } body_site_idxs = [ - site_index_map[n] for n in self.model_cfg["KEYPOINT_MODEL_PAIRS"].keys() + site_index_map[n] for n in self.cfg.model.KEYPOINT_MODEL_PAIRS.keys() ] keypoint_site_idxs = [site_index_map[n] for n in keypoint_site_names] self._body_site_idxs = body_site_idxs @@ -527,7 +525,7 @@ def render( frames = [] # render while stepping using mujoco - with imageio.get_writer(save_path, fps=self.model_cfg["RENDER_FPS"]) as video: + with imageio.get_writer(save_path, fps=self.cfg.model.RENDER_FPS) as video: for qpos, kps in tqdm(zip(qposes, kp_data)): # Set keypoints render_mj_model.site_pos[keypoint_site_idxs] = np.reshape(kps, (-1, 3)) diff --git a/stac_mjx/main.py b/stac_mjx/main.py index d49a26d..4ebe669 100644 --- a/stac_mjx/main.py +++ b/stac_mjx/main.py @@ -11,9 +11,10 @@ from stac_mjx.controller import STAC from pathlib import Path from typing import List, Dict +import hydra -def load_configs(stac_config_path: Path, model_config_path: Path) -> DictConfig: +def load_configs(relative_path: str) -> DictConfig: """Initializes configs. Args: @@ -23,14 +24,16 @@ def load_configs(stac_config_path: Path, model_config_path: Path) -> DictConfig: Returns: DictConfig: stac.yaml config to use in run_stac() """ - return OmegaConf.load(stac_config_path), OmegaConf.to_container( - OmegaConf.load(model_config_path), resolve=True - ) + # Initialize Hydra and set the config path + with hydra.initialize(config_path=relative_path): + # Compose the configuration by specifying the config name + cfg = hydra.compose(config_name="config") + return cfg def run_stac( - stac_cfg: DictConfig, - model_cfg: Dict, + cfg: DictConfig, + # model_cfg: Dict, kp_data: jp.ndarray, kp_names: List[str], base_path: Path = Path.cwd(), @@ -52,16 +55,16 @@ def run_stac( start_time = time.time() # Getting paths - fit_path = base_path / stac_cfg.fit_path - transform_path = base_path / stac_cfg.transform_path + fit_path = base_path / cfg.stac.fit_path + transform_path = base_path / cfg.stac.transform_path - xml_path = base_path / model_cfg["MJCF_PATH"] + xml_path = base_path / cfg.model.MJCF_PATH - stac = STAC(xml_path, stac_cfg, model_cfg, kp_names) + stac = STAC(xml_path, cfg, kp_names) # Run fit if not skipping - if stac_cfg.skip_fit != 1: - fit_data = kp_data[: stac_cfg.n_fit_frames] + if cfg.stac.skip_fit != 1: + fit_data = kp_data[: cfg.stac.n_fit_frames] logging.info(f"Running fit. Mocap data shape: {fit_data.shape}") fit_data = stac.fit(fit_data) @@ -69,7 +72,7 @@ def run_stac( utils.save(fit_data, fit_path) # Stop here if skipping transform - if stac_cfg.skip_transform == 1: + if cfg.stac.skip_transform == 1: logging.info("skipping transform()") return fit_path, None diff --git a/stac_mjx/utils.py b/stac_mjx/utils.py index 2759132..e6700f8 100755 --- a/stac_mjx/utils.py +++ b/stac_mjx/utils.py @@ -10,7 +10,7 @@ from pynwb import NWBHDF5IO from ndx_pose import PoseEstimationSeries, PoseEstimation from pathlib import Path -from typing import Dict +from omegaconf import DictConfig from jax.lib import xla_bridge import os @@ -24,7 +24,7 @@ def enable_xla_flags(): ) -def load_data(file_path: Path, params: Dict, label3d_path=None): +def load_data(cfg: DictConfig, base_path: Path = Path.cwd(), label3d_path=None): """Main mocap data file loader interface. Loads mocap file based on filetype, and returns the data flattened @@ -46,6 +46,7 @@ def load_data(file_path: Path, params: Dict, label3d_path=None): Raises: ValueError if an unsupported filetype is encountered. """ + file_path = base_path / cfg.stac.data_path # using pathlib if file_path.suffix == ".mat": data, kp_names = load_dannce(str(file_path), names_filename=label3d_path) @@ -56,7 +57,7 @@ def load_data(file_path: Path, params: Dict, label3d_path=None): "Unsupported file extension. Please provide a .nwb or .mat file." ) - kp_names = kp_names or params["KP_NAMES"] + kp_names = kp_names or cfg.model.KP_NAMES if kp_names is None: raise ValueError( @@ -69,13 +70,14 @@ def load_data(file_path: Path, params: Dict, label3d_path=None): f"Number of keypoint names ({len(kp_names)}) is not the same as the number of keypoints in data ({data.shape[1]})" ) - model_inds = np.array( - [kp_names.index(src) for src, dst in params["KEYPOINT_MODEL_PAIRS"].items()] - ) + model_inds = [ + kp_names.index(src) for src, dst in cfg.model.KEYPOINT_MODEL_PAIRS.items() + ] + sorted_kp_names = [kp_names[i] for i in model_inds] # Scale mocap data to match model - data = data * params["MOCAP_SCALE_FACTOR"] + data = data * cfg.model.MOCAP_SCALE_FACTOR # Sort in kp_names order data = jnp.array(data[:, :, model_inds]) # Flatten data from [#num frames, #keypoints, xyz] From 7db5cd8b4e4d25bdb2caad4b3b666946c2df91df Mon Sep 17 00:00:00 2001 From: Charles Zhang Date: Fri, 6 Sep 2024 00:01:21 -0400 Subject: [PATCH 2/9] use absolute path for load_configs --- demos/api_usage.ipynb | 1901 +---------------------------------------- stac_mjx/main.py | 9 +- 2 files changed, 8 insertions(+), 1902 deletions(-) diff --git a/demos/api_usage.ipynb b/demos/api_usage.ipynb index 4ddd42d..782a7f0 100644 --- a/demos/api_usage.ipynb +++ b/demos/api_usage.ipynb @@ -4,26 +4,7 @@ "cell_type": "code", "execution_count": 1, "metadata": {}, - "outputs": [ - { - "ename": "RuntimeError", - "evalue": "jaxlib version 0.4.31 is newer than and incompatible with jax version 0.4.6. Please update your jax and/or jaxlib packages.", - "output_type": "error", - "traceback": [ - "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", - "\u001b[0;31mRuntimeError\u001b[0m Traceback (most recent call last)", - "Cell \u001b[0;32mIn[1], line 4\u001b[0m\n\u001b[1;32m 1\u001b[0m get_ipython()\u001b[38;5;241m.\u001b[39mrun_line_magic(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mload_ext\u001b[39m\u001b[38;5;124m'\u001b[39m, \u001b[38;5;124m'\u001b[39m\u001b[38;5;124mautoreload\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[1;32m 2\u001b[0m get_ipython()\u001b[38;5;241m.\u001b[39mrun_line_magic(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mautoreload\u001b[39m\u001b[38;5;124m'\u001b[39m, \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m2\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[0;32m----> 4\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mstac_mjx\u001b[39;00m \n\u001b[1;32m 5\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mpathlib\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Path\n\u001b[1;32m 7\u001b[0m \u001b[38;5;66;03m# Choose parent directory as base path for data files\u001b[39;00m\n", - "File \u001b[0;32m~/GitHub/stac-mjx/stac_mjx/__init__.py:3\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[38;5;124;03m\"\"\"This module exposes all high level APIs for stac-mjx.\"\"\"\u001b[39;00m\n\u001b[0;32m----> 3\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mstac_mjx\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mutils\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m enable_xla_flags, load_data\n\u001b[1;32m 4\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mstac_mjx\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mmain\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m load_configs, run_stac\n\u001b[1;32m 5\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mstac_mjx\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mviz\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m viz_stac\n", - "File \u001b[0;32m~/GitHub/stac-mjx/stac_mjx/utils.py:5\u001b[0m\n\u001b[1;32m 3\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mos\u001b[39;00m\n\u001b[1;32m 4\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mnumpy\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mnp\u001b[39;00m\n\u001b[0;32m----> 5\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m numpy \u001b[38;5;28;01mas\u001b[39;00m jnp\n\u001b[1;32m 6\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01myaml\u001b[39;00m\n\u001b[1;32m 7\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mscipy\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mio\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mspio\u001b[39;00m\n", - "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/__init__.py:35\u001b[0m\n\u001b[1;32m 30\u001b[0m \u001b[38;5;28;01mdel\u001b[39;00m _cloud_tpu_init\n\u001b[1;32m 32\u001b[0m \u001b[38;5;66;03m# Confusingly there are two things named \"config\": the module and the class.\u001b[39;00m\n\u001b[1;32m 33\u001b[0m \u001b[38;5;66;03m# We want the exported object to be the class, so we first import the module\u001b[39;00m\n\u001b[1;32m 34\u001b[0m \u001b[38;5;66;03m# to make sure a later import doesn't overwrite the class.\u001b[39;00m\n\u001b[0;32m---> 35\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m config \u001b[38;5;28;01mas\u001b[39;00m _config_module\n\u001b[1;32m 36\u001b[0m \u001b[38;5;28;01mdel\u001b[39;00m _config_module\n\u001b[1;32m 38\u001b[0m \u001b[38;5;66;03m# Force early import, allowing use of `jax.core` after importing `jax`.\u001b[39;00m\n", - "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/config.py:17\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[38;5;66;03m# Copyright 2018 The JAX Authors.\u001b[39;00m\n\u001b[1;32m 2\u001b[0m \u001b[38;5;66;03m#\u001b[39;00m\n\u001b[1;32m 3\u001b[0m \u001b[38;5;66;03m# Licensed under the Apache License, Version 2.0 (the \"License\");\u001b[39;00m\n\u001b[0;32m (...)\u001b[0m\n\u001b[1;32m 14\u001b[0m \n\u001b[1;32m 15\u001b[0m \u001b[38;5;66;03m# TODO(phawkins): fix users of this alias and delete this file.\u001b[39;00m\n\u001b[0;32m---> 17\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_src\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mconfig\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m config \u001b[38;5;66;03m# noqa: F401\u001b[39;00m\n", - "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/_src/config.py:25\u001b[0m\n\u001b[1;32m 22\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mwarnings\u001b[39;00m\n\u001b[1;32m 23\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mtyping\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Any, List, Callable, Hashable, NamedTuple, Iterator, Optional\n\u001b[0;32m---> 25\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_src\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m lib\n\u001b[1;32m 26\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_src\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mlib\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m jax_jit\n\u001b[1;32m 27\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mjax\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_src\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mlib\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m transfer_guard_lib\n", - "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/_src/lib/__init__.py:74\u001b[0m\n\u001b[1;32m 71\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m _jaxlib_version\n\u001b[1;32m 73\u001b[0m version_str \u001b[38;5;241m=\u001b[39m jaxlib\u001b[38;5;241m.\u001b[39mversion\u001b[38;5;241m.\u001b[39m__version__\n\u001b[0;32m---> 74\u001b[0m version \u001b[38;5;241m=\u001b[39m \u001b[43mcheck_jaxlib_version\u001b[49m\u001b[43m(\u001b[49m\n\u001b[1;32m 75\u001b[0m \u001b[43m \u001b[49m\u001b[43mjax_version\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mjax\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mversion\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m__version__\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m 76\u001b[0m \u001b[43m \u001b[49m\u001b[43mjaxlib_version\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mjaxlib\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mversion\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m__version__\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m 77\u001b[0m \u001b[43m \u001b[49m\u001b[43mminimum_jaxlib_version\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mjax\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mversion\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_minimum_jaxlib_version\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 81\u001b[0m \u001b[38;5;66;03m# Before importing any C compiled modules from jaxlib, first import the CPU\u001b[39;00m\n\u001b[1;32m 82\u001b[0m \u001b[38;5;66;03m# feature guard module to verify that jaxlib was compiled in a way that only\u001b[39;00m\n\u001b[1;32m 83\u001b[0m \u001b[38;5;66;03m# uses instructions that are present on this machine.\u001b[39;00m\n\u001b[1;32m 84\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mjaxlib\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mcpu_feature_guard\u001b[39;00m \u001b[38;5;28;01mas\u001b[39;00m \u001b[38;5;21;01mcpu_feature_guard\u001b[39;00m\n", - "File \u001b[0;32m~/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jax/_src/lib/__init__.py:69\u001b[0m, in \u001b[0;36mcheck_jaxlib_version\u001b[0;34m(jax_version, jaxlib_version, minimum_jaxlib_version)\u001b[0m\n\u001b[1;32m 65\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m _jaxlib_version \u001b[38;5;241m>\u001b[39m _jax_version:\n\u001b[1;32m 66\u001b[0m msg \u001b[38;5;241m=\u001b[39m (\u001b[38;5;124mf\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mjaxlib version \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mjaxlib_version\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m is newer than and \u001b[39m\u001b[38;5;124m'\u001b[39m\n\u001b[1;32m 67\u001b[0m \u001b[38;5;124mf\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mincompatible with jax version \u001b[39m\u001b[38;5;132;01m{\u001b[39;00mjax_version\u001b[38;5;132;01m}\u001b[39;00m\u001b[38;5;124m. Please \u001b[39m\u001b[38;5;124m'\u001b[39m\n\u001b[1;32m 68\u001b[0m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124mupdate your jax and/or jaxlib packages.\u001b[39m\u001b[38;5;124m'\u001b[39m)\n\u001b[0;32m---> 69\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mRuntimeError\u001b[39;00m(msg)\n\u001b[1;32m 71\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m _jaxlib_version\n", - "\u001b[0;31mRuntimeError\u001b[0m: jaxlib version 0.4.31 is newer than and incompatible with jax version 0.4.6. Please update your jax and/or jaxlib packages." - ] - } - ], + "outputs": [], "source": [ "%load_ext autoreload\n", "%autoreload 2\n", @@ -46,35 +27,9 @@ "cell_type": "code", "execution_count": 2, "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "/Users/charleszhang/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/stac_mjx/main.py:28: UserWarning: \n", - "The version_base parameter is not specified.\n", - "Please specify a compatability version level, or None.\n", - "Will assume defaults for version 1.1\n", - " with hydra.initialize(config_path=base_path / \"configs\"):\n" - ] - }, - { - "ename": "HydraException", - "evalue": "config_path in initialize() must be relative", - "output_type": "error", - "traceback": [ - "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", - "\u001b[0;31mHydraException\u001b[0m Traceback (most recent call last)", - "Cell \u001b[0;32mIn[2], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m cfg \u001b[38;5;241m=\u001b[39m \u001b[43mstac_mjx\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mload_configs\u001b[49m\u001b[43m(\u001b[49m\u001b[43mbase_path\u001b[49m\u001b[43m)\u001b[49m\n", - "File \u001b[0;32m~/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/stac_mjx/main.py:28\u001b[0m, in \u001b[0;36mload_configs\u001b[0;34m(base_path)\u001b[0m\n\u001b[1;32m 18\u001b[0m \u001b[38;5;250m\u001b[39m\u001b[38;5;124;03m\"\"\"Initializes configs.\u001b[39;00m\n\u001b[1;32m 19\u001b[0m \n\u001b[1;32m 20\u001b[0m \u001b[38;5;124;03mArgs:\u001b[39;00m\n\u001b[0;32m (...)\u001b[0m\n\u001b[1;32m 25\u001b[0m \u001b[38;5;124;03m DictConfig: stac.yaml config to use in run_stac()\u001b[39;00m\n\u001b[1;32m 26\u001b[0m \u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m 27\u001b[0m \u001b[38;5;66;03m# Initialize Hydra and set the config path\u001b[39;00m\n\u001b[0;32m---> 28\u001b[0m \u001b[38;5;28;01mwith\u001b[39;00m \u001b[43mhydra\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43minitialize\u001b[49m\u001b[43m(\u001b[49m\u001b[43mconfig_path\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43mbase_path\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m/\u001b[39;49m\u001b[43m \u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mconfigs\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m)\u001b[49m:\n\u001b[1;32m 29\u001b[0m \u001b[38;5;66;03m# Compose the configuration by specifying the config name\u001b[39;00m\n\u001b[1;32m 30\u001b[0m cfg \u001b[38;5;241m=\u001b[39m hydra\u001b[38;5;241m.\u001b[39mcompose(config_name\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mconfig\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[1;32m 31\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m cfg\n", - "File \u001b[0;32m~/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/hydra/initialize.py:82\u001b[0m, in \u001b[0;36minitialize.__init__\u001b[0;34m(self, config_path, job_name, caller_stack_depth, version_base)\u001b[0m\n\u001b[1;32m 79\u001b[0m config_path \u001b[38;5;241m=\u001b[39m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124m.\u001b[39m\u001b[38;5;124m\"\u001b[39m\n\u001b[1;32m 81\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m config_path \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m \u001b[38;5;129;01mand\u001b[39;00m os\u001b[38;5;241m.\u001b[39mpath\u001b[38;5;241m.\u001b[39misabs(config_path):\n\u001b[0;32m---> 82\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m HydraException(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mconfig_path in initialize() must be relative\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[1;32m 83\u001b[0m calling_file, calling_module \u001b[38;5;241m=\u001b[39m detect_calling_file_or_module_from_stack_frame(\n\u001b[1;32m 84\u001b[0m caller_stack_depth \u001b[38;5;241m+\u001b[39m \u001b[38;5;241m1\u001b[39m\n\u001b[1;32m 85\u001b[0m )\n\u001b[1;32m 86\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m job_name \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n", - "\u001b[0;31mHydraException\u001b[0m: config_path in initialize() must be relative" - ] - } - ], + "outputs": [], "source": [ - "# Hydra requires relative pathing to config file\n", - "cfg = stac_mjx.load_configs(\"../configs\")" + "cfg = stac_mjx.load_configs(base_path / \"configs\")" ] }, { @@ -110,1855 +65,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "Root Optimization:\n", - "opt done in 93.23267483711243\n", - "replace done in 48.88851499557495\n", - "Root opt finished in 142.12279200553894 at iteration [361], Loss: [0.00298772]\n", - "Calibration iteration: 1/6\n", - "Pose Optimization:\n", - "Pose Optimization done in 3.4266130924224854\n", - "Frame 1 done in 0.17803096771240234 with a final error of 0.005659178365021944 after 2604 total iterations\n", - "Frame 2 done in 0.06702303886413574 with a final error of 0.005514185875654221 after 2030 total iterations\n", - "Frame 3 done in 0.05131077766418457 with a final error of 0.0054081520065665245 after 1525 total iterations\n", - "Frame 4 done in 0.04475212097167969 with a final error of 0.005398441106081009 after 1308 total iterations\n", - "Frame 5 done in 0.04319906234741211 with a final error of 0.005390129052102566 after 1267 total iterations\n", - "Frame 6 done in 0.04133892059326172 with a final error of 0.005377527326345444 after 1216 total iterations\n", - "Frame 7 done in 0.040637969970703125 with a final error of 0.0053632184863090515 after 1178 total iterations\n", - "Frame 8 done in 0.03932785987854004 with a final error of 0.005365302320569754 after 1145 total iterations\n", - "Frame 9 done in 0.038156986236572266 with a final error of 0.0053613875061273575 after 1110 total iterations\n", - "Frame 10 done in 0.03769183158874512 with a final error of 0.005358402617275715 after 1084 total iterations\n", - "Frame 11 done in 0.0352780818939209 with a final error of 0.005362068302929401 after 1003 total iterations\n", - "Frame 12 done in 0.034670114517211914 with a final error of 0.005357676185667515 after 985 total iterations\n", - "Frame 13 done in 0.03397560119628906 with a final error of 0.005358580965548754 after 956 total iterations\n", - "Frame 14 done in 0.03301405906677246 with a final error of 0.005350782070308924 after 931 total iterations\n", - "Frame 15 done in 0.03220701217651367 with a final error of 0.005347603932023048 after 904 total iterations\n", - "Frame 16 done in 0.031805992126464844 with a final error of 0.005347889382392168 after 877 total iterations\n", - "Frame 17 done in 0.030579090118408203 with a final error of 0.005345900077372789 after 848 total iterations\n", - "Frame 18 done in 0.02999711036682129 with a final error of 0.005339562892913818 after 824 total iterations\n", - "Frame 19 done in 0.030020713806152344 with a final error of 0.005336381494998932 after 798 total iterations\n", - "Frame 20 done in 0.02864694595336914 with a final error of 0.005337459035217762 after 770 total iterations\n", - "Frame 21 done in 0.02791309356689453 with a final error of 0.005332449451088905 after 749 total iterations\n", - "Frame 22 done in 0.027521848678588867 with a final error of 0.005332615226507187 after 724 total iterations\n", - "Frame 23 done in 0.02661299705505371 with a final error of 0.005334304645657539 after 703 total iterations\n", - "Frame 24 done in 0.0257871150970459 with a final error of 0.00533626414835453 after 678 total iterations\n", - "Frame 25 done in 0.02590179443359375 with a final error of 0.005329434759914875 after 654 total iterations\n", - "Frame 26 done in 0.024796009063720703 with a final error of 0.005333568900823593 after 631 total iterations\n", - "Frame 27 done in 0.024126291275024414 with a final error of 0.005326395388692617 after 613 total iterations\n", - "Frame 28 done in 0.025590896606445312 with a final error of 0.005300529766827822 after 595 total iterations\n", - "Frame 29 done in 0.02402210235595703 with a final error of 0.005238186568021774 after 574 total iterations\n", - "Frame 30 done in 0.022984981536865234 with a final error of 0.005193957127630711 after 539 total iterations\n", - "Frame 31 done in 0.02266716957092285 with a final error of 0.005160328932106495 after 529 total iterations\n", - "Frame 32 done in 0.022864103317260742 with a final error of 0.005097180604934692 after 540 total iterations\n", - "Frame 33 done in 0.023273229598999023 with a final error of 0.005084908567368984 after 554 total iterations\n", - "Frame 34 done in 0.022144079208374023 with a final error of 0.0050799851305782795 after 525 total iterations\n", - "Frame 35 done in 0.023066043853759766 with a final error of 0.005106249824166298 after 527 total iterations\n", - "Frame 36 done in 0.02196192741394043 with a final error of 0.005159669555723667 after 520 total iterations\n", - "Frame 37 done in 0.019708871841430664 with a final error of 0.005225958302617073 after 437 total iterations\n", - "Frame 38 done in 0.022166967391967773 with a final error of 0.0052153971046209335 after 516 total iterations\n", - "Frame 39 done in 0.021660327911376953 with a final error of 0.005246957764029503 after 503 total iterations\n", - "Frame 40 done in 0.02153778076171875 with a final error of 0.005277618765830994 after 490 total iterations\n", - "Frame 41 done in 0.021142959594726562 with a final error of 0.005303609184920788 after 485 total iterations\n", - "Frame 42 done in 0.021211862564086914 with a final error of 0.005331243854016066 after 484 total iterations\n", - "Frame 43 done in 0.02070021629333496 with a final error of 0.005332980304956436 after 461 total iterations\n", - "Frame 44 done in 0.019926786422729492 with a final error of 0.005343547090888023 after 448 total iterations\n", - "Frame 45 done in 0.02008223533630371 with a final error of 0.005338799208402634 after 437 total iterations\n", - "Frame 46 done in 0.01879405975341797 with a final error of 0.005337138194590807 after 410 total iterations\n", - "Frame 47 done in 0.0190279483795166 with a final error of 0.005313471425324678 after 410 total iterations\n", - "Frame 48 done in 0.018337011337280273 with a final error of 0.005290958099067211 after 397 total iterations\n", - "Frame 49 done in 0.017007112503051758 with a final error of 0.005243068560957909 after 347 total iterations\n", - "Frame 50 done in 0.009876012802124023 with a final error of 0.005499863997101784 after 107 total iterations\n", - "Frame 51 done in 0.016869068145751953 with a final error of 0.005176973063498735 after 320 total iterations\n", - "Frame 52 done in 0.009590864181518555 with a final error of 0.005430739838629961 after 98 total iterations\n", - "Frame 53 done in 0.010430097579956055 with a final error of 0.005225068889558315 after 133 total iterations\n", - "Frame 54 done in 0.013431072235107422 with a final error of 0.005224785767495632 after 242 total iterations\n", - "Frame 55 done in 0.01158595085144043 with a final error of 0.005203463137149811 after 174 total iterations\n", - "Frame 56 done in 0.0068531036376953125 with a final error of 0.005338144954293966 after 12 total iterations\n", - "Frame 57 done in 0.008808135986328125 with a final error of 0.00521177239716053 after 81 total iterations\n", - "Frame 58 done in 0.008112907409667969 with a final error of 0.00522913783788681 after 58 total iterations\n", - "Frame 59 done in 0.008678913116455078 with a final error of 0.005205105058848858 after 64 total iterations\n", - "Frame 60 done in 0.0075531005859375 with a final error of 0.0052178967744112015 after 38 total iterations\n", - "Frame 61 done in 0.00822901725769043 with a final error of 0.005209388677030802 after 52 total iterations\n", - "Frame 62 done in 0.008328914642333984 with a final error of 0.005180972628295422 after 63 total iterations\n", - "Frame 63 done in 0.008009910583496094 with a final error of 0.005199623294174671 after 52 total iterations\n", - "Frame 64 done in 0.0073108673095703125 with a final error of 0.005201578605920076 after 31 total iterations\n", - "Frame 65 done in 0.008059263229370117 with a final error of 0.005178569816052914 after 55 total iterations\n", - "Frame 66 done in 0.0074787139892578125 with a final error of 0.005181716755032539 after 34 total iterations\n", - "Frame 67 done in 0.008037090301513672 with a final error of 0.005167805124074221 after 52 total iterations\n", - "Frame 68 done in 0.007703065872192383 with a final error of 0.0051594264805316925 after 46 total iterations\n", - "Frame 69 done in 0.008107185363769531 with a final error of 0.005147850140929222 after 52 total iterations\n", - "Frame 70 done in 0.007960796356201172 with a final error of 0.005143939983099699 after 53 total iterations\n", - "Frame 71 done in 0.0073430538177490234 with a final error of 0.005141746252775192 after 28 total iterations\n", - "Frame 72 done in 0.007726192474365234 with a final error of 0.005142112262547016 after 44 total iterations\n", - "Frame 73 done in 0.008049964904785156 with a final error of 0.005132653750479221 after 50 total iterations\n", - "Frame 74 done in 0.007196903228759766 with a final error of 0.005139636807143688 after 22 total iterations\n", - "Frame 75 done in 0.007850885391235352 with a final error of 0.005127272102981806 after 48 total iterations\n", - "Frame 76 done in 0.00772404670715332 with a final error of 0.0051201507449150085 after 44 total iterations\n", - "Frame 77 done in 0.00715184211730957 with a final error of 0.005124450661242008 after 26 total iterations\n", - "Frame 78 done in 0.00726318359375 with a final error of 0.005109635181725025 after 26 total iterations\n", - "Frame 79 done in 0.0077359676361083984 with a final error of 0.00511554442346096 after 44 total iterations\n", - "Frame 80 done in 0.008906126022338867 with a final error of 0.0051092104986310005 after 81 total iterations\n", - "Frame 81 done in 0.0074689388275146484 with a final error of 0.005121727008372545 after 37 total iterations\n", - "Frame 82 done in 0.007358074188232422 with a final error of 0.005113603081554174 after 30 total iterations\n", - "Frame 83 done in 0.007402896881103516 with a final error of 0.005104627460241318 after 34 total iterations\n", - "Frame 84 done in 0.007108211517333984 with a final error of 0.005103990901261568 after 22 total iterations\n", - "Frame 85 done in 0.0074388980865478516 with a final error of 0.005094724707305431 after 34 total iterations\n", - "Frame 86 done in 0.007391929626464844 with a final error of 0.005095341242849827 after 22 total iterations\n", - "Frame 87 done in 0.007566213607788086 with a final error of 0.005102289840579033 after 26 total iterations\n", - "Frame 88 done in 0.007712125778198242 with a final error of 0.0050941696390509605 after 42 total iterations\n", - "Frame 89 done in 0.007805824279785156 with a final error of 0.005091201979666948 after 42 total iterations\n", - "Frame 90 done in 0.007726192474365234 with a final error of 0.0050810109823942184 after 42 total iterations\n", - "Frame 91 done in 0.007835149765014648 with a final error of 0.005073891952633858 after 42 total iterations\n", - "Frame 92 done in 0.00772404670715332 with a final error of 0.005059192888438702 after 42 total iterations\n", - "Frame 93 done in 0.007884979248046875 with a final error of 0.005049966741353273 after 42 total iterations\n", - "Frame 94 done in 0.007642984390258789 with a final error of 0.005043672397732735 after 42 total iterations\n", - "Frame 95 done in 0.007725954055786133 with a final error of 0.005049539729952812 after 42 total iterations\n", - "Frame 96 done in 0.00764012336730957 with a final error of 0.005087419878691435 after 42 total iterations\n", - "Frame 97 done in 0.007688999176025391 with a final error of 0.005075659602880478 after 42 total iterations\n", - "Frame 98 done in 0.007668018341064453 with a final error of 0.005067398771643639 after 42 total iterations\n", - "Frame 99 done in 0.007943868637084961 with a final error of 0.0050228969193995 after 51 total iterations\n", - "Frame 100 done in 0.009165048599243164 with a final error of 0.0050267549231648445 after 86 total iterations\n", - "Frame 101 done in 0.008082151412963867 with a final error of 0.005064161494374275 after 46 total iterations\n", - "Frame 102 done in 0.007879972457885742 with a final error of 0.005103522911667824 after 46 total iterations\n", - "Frame 103 done in 0.007433891296386719 with a final error of 0.0051096100360155106 after 30 total iterations\n", - "Frame 104 done in 0.007811069488525391 with a final error of 0.005106856115162373 after 44 total iterations\n", - "Frame 105 done in 0.00780797004699707 with a final error of 0.005061891861259937 after 42 total iterations\n", - "Frame 106 done in 0.007935047149658203 with a final error of 0.005056894384324551 after 48 total iterations\n", - "Frame 107 done in 0.007786989212036133 with a final error of 0.005030971486121416 after 42 total iterations\n", - "Frame 108 done in 0.007864952087402344 with a final error of 0.005041365511715412 after 42 total iterations\n", - "Frame 109 done in 0.007867097854614258 with a final error of 0.00504725705832243 after 44 total iterations\n", - "Frame 110 done in 0.007784128189086914 with a final error of 0.0050248014740645885 after 42 total iterations\n", - "Frame 111 done in 0.007753849029541016 with a final error of 0.005030314438045025 after 42 total iterations\n", - "Frame 112 done in 0.008088827133178711 with a final error of 0.0050146812573075294 after 44 total iterations\n", - "Frame 113 done in 0.007875204086303711 with a final error of 0.004997245967388153 after 44 total iterations\n", - "Frame 114 done in 0.007751941680908203 with a final error of 0.005006570369005203 after 38 total iterations\n", - "Frame 115 done in 0.0072481632232666016 with a final error of 0.004938715137541294 after 26 total iterations\n", - "Frame 116 done in 0.008732795715332031 with a final error of 0.004917483776807785 after 76 total iterations\n", - "Frame 117 done in 0.008130073547363281 with a final error of 0.004913007840514183 after 55 total iterations\n", - "Frame 118 done in 0.007596015930175781 with a final error of 0.004893993493169546 after 34 total iterations\n", - "Frame 119 done in 0.007962942123413086 with a final error of 0.004913837183266878 after 50 total iterations\n", - "Frame 120 done in 0.007647991180419922 with a final error of 0.004917653277516365 after 38 total iterations\n", - "Frame 121 done in 0.007757663726806641 with a final error of 0.004934565629810095 after 42 total iterations\n", - "Frame 122 done in 0.007688283920288086 with a final error of 0.004949525929987431 after 42 total iterations\n", - "Frame 123 done in 0.007765054702758789 with a final error of 0.004961003083735704 after 42 total iterations\n", - "Frame 124 done in 0.007709026336669922 with a final error of 0.005008549429476261 after 42 total iterations\n", - "Frame 125 done in 0.007802009582519531 with a final error of 0.0050530144944787025 after 42 total iterations\n", - "Frame 126 done in 0.008332014083862305 with a final error of 0.005048365797847509 after 65 total iterations\n", - "Frame 127 done in 0.008016109466552734 with a final error of 0.005035345442593098 after 42 total iterations\n", - "Frame 128 done in 0.008458137512207031 with a final error of 0.005012155044823885 after 68 total iterations\n", - "Frame 129 done in 0.0075969696044921875 with a final error of 0.004935668781399727 after 35 total iterations\n", - "Frame 130 done in 0.008741140365600586 with a final error of 0.004909705836325884 after 77 total iterations\n", - "Frame 131 done in 0.007776021957397461 with a final error of 0.004913664422929287 after 42 total iterations\n", - "Frame 132 done in 0.0076940059661865234 with a final error of 0.0049035027623176575 after 42 total iterations\n", - "Frame 133 done in 0.008088827133178711 with a final error of 0.004922414664179087 after 49 total iterations\n", - "Frame 134 done in 0.007632255554199219 with a final error of 0.004913913551717997 after 42 total iterations\n", - "Frame 135 done in 0.007870197296142578 with a final error of 0.004903747234493494 after 42 total iterations\n", - "Frame 136 done in 0.007652759552001953 with a final error of 0.004895687103271484 after 42 total iterations\n", - "Frame 137 done in 0.007771730422973633 with a final error of 0.004892733879387379 after 44 total iterations\n", - "Frame 138 done in 0.007699251174926758 with a final error of 0.004882213659584522 after 42 total iterations\n", - "Frame 139 done in 0.00778508186340332 with a final error of 0.004890035837888718 after 42 total iterations\n", - "Frame 140 done in 0.007928848266601562 with a final error of 0.004899370018392801 after 42 total iterations\n", - "Frame 141 done in 0.007735013961791992 with a final error of 0.004904627799987793 after 44 total iterations\n", - "Frame 142 done in 0.00787806510925293 with a final error of 0.004921765066683292 after 44 total iterations\n", - "Frame 143 done in 0.007864952087402344 with a final error of 0.004907007794827223 after 48 total iterations\n", - "Frame 144 done in 0.00793004035949707 with a final error of 0.004904406610876322 after 47 total iterations\n", - "Frame 145 done in 0.007841110229492188 with a final error of 0.00495124701410532 after 48 total iterations\n", - "Frame 146 done in 0.007798671722412109 with a final error of 0.0049765994772315025 after 42 total iterations\n", - "Frame 147 done in 0.007688283920288086 with a final error of 0.004999849013984203 after 42 total iterations\n", - "Frame 148 done in 0.008043050765991211 with a final error of 0.005057950504124165 after 53 total iterations\n", - "Frame 149 done in 0.008165836334228516 with a final error of 0.005085901357233524 after 58 total iterations\n", - "Frame 150 done in 0.007790088653564453 with a final error of 0.005083623342216015 after 44 total iterations\n", - "Frame 151 done in 0.007657051086425781 with a final error of 0.005076937843114138 after 42 total iterations\n", - "Frame 152 done in 0.007838964462280273 with a final error of 0.005065539386123419 after 42 total iterations\n", - "Frame 153 done in 0.007960081100463867 with a final error of 0.005053671542555094 after 44 total iterations\n", - "Frame 154 done in 0.0077779293060302734 with a final error of 0.0050442093051970005 after 42 total iterations\n", - "Frame 155 done in 0.007725954055786133 with a final error of 0.0050430903211236 after 44 total iterations\n", - "Frame 156 done in 0.008037328720092773 with a final error of 0.005042620934545994 after 53 total iterations\n", - "Frame 157 done in 0.007730722427368164 with a final error of 0.005043752491474152 after 44 total iterations\n", - "Frame 158 done in 0.007706880569458008 with a final error of 0.005055427551269531 after 44 total iterations\n", - "Frame 159 done in 0.0077702999114990234 with a final error of 0.005049987696111202 after 44 total iterations\n", - "Frame 160 done in 0.007677793502807617 with a final error of 0.005012170877307653 after 42 total iterations\n", - "Frame 161 done in 0.007932901382446289 with a final error of 0.0050613535568118095 after 48 total iterations\n", - "Frame 162 done in 0.0077931880950927734 with a final error of 0.005090201273560524 after 42 total iterations\n", - "Frame 163 done in 0.008045673370361328 with a final error of 0.005060377065092325 after 53 total iterations\n", - "Frame 164 done in 0.007720947265625 with a final error of 0.005066771060228348 after 42 total iterations\n", - "Frame 165 done in 0.00826120376586914 with a final error of 0.005099881906062365 after 48 total iterations\n", - "Frame 166 done in 0.007593870162963867 with a final error of 0.005084276665002108 after 40 total iterations\n", - "Frame 167 done in 0.007706880569458008 with a final error of 0.005076812580227852 after 42 total iterations\n", - "Frame 168 done in 0.007043123245239258 with a final error of 0.005093520041555166 after 22 total iterations\n", - "Frame 169 done in 0.0074138641357421875 with a final error of 0.005093744490295649 after 34 total iterations\n", - "Frame 170 done in 0.007879018783569336 with a final error of 0.005018973723053932 after 48 total iterations\n", - "Frame 171 done in 0.008520841598510742 with a final error of 0.005069036036729813 after 42 total iterations\n", - "Frame 172 done in 0.007896184921264648 with a final error of 0.005096026696264744 after 42 total iterations\n", - "Frame 173 done in 0.008150100708007812 with a final error of 0.00509843323379755 after 50 total iterations\n", - "Frame 174 done in 0.007998943328857422 with a final error of 0.005110166966915131 after 44 total iterations\n", - "Frame 175 done in 0.008235931396484375 with a final error of 0.0051151467487216 after 54 total iterations\n", - "Frame 176 done in 0.00801396369934082 with a final error of 0.005116498097777367 after 42 total iterations\n", - "Frame 177 done in 0.007904052734375 with a final error of 0.00511751975864172 after 44 total iterations\n", - "Frame 178 done in 0.008301973342895508 with a final error of 0.005145108327269554 after 48 total iterations\n", - "Frame 179 done in 0.008179903030395508 with a final error of 0.005125370807945728 after 53 total iterations\n", - "Frame 180 done in 0.007908105850219727 with a final error of 0.0051206378266215324 after 42 total iterations\n", - "Frame 181 done in 0.00817108154296875 with a final error of 0.005113366059958935 after 54 total iterations\n", - "Frame 182 done in 0.007844924926757812 with a final error of 0.005112181417644024 after 42 total iterations\n", - "Frame 183 done in 0.007208824157714844 with a final error of 0.0051209283992648125 after 22 total iterations\n", - "Frame 184 done in 0.008101224899291992 with a final error of 0.005100274924188852 after 52 total iterations\n", - "Frame 185 done in 0.007195711135864258 with a final error of 0.005053688772022724 after 22 total iterations\n", - "Frame 186 done in 0.007871866226196289 with a final error of 0.005083834752440453 after 42 total iterations\n", - "Frame 187 done in 0.007643938064575195 with a final error of 0.0050777774304151535 after 36 total iterations\n", - "Frame 188 done in 0.007833003997802734 with a final error of 0.005055755376815796 after 42 total iterations\n", - "Frame 189 done in 0.007261991500854492 with a final error of 0.005045798607170582 after 22 total iterations\n", - "Frame 190 done in 0.009305000305175781 with a final error of 0.005091778002679348 after 92 total iterations\n", - "Frame 191 done in 0.007603883743286133 with a final error of 0.005095821339637041 after 28 total iterations\n", - "Frame 192 done in 0.007752180099487305 with a final error of 0.005081009119749069 after 34 total iterations\n", - "Frame 193 done in 0.007546901702880859 with a final error of 0.005088137462735176 after 32 total iterations\n", - "Frame 194 done in 0.0074460506439208984 with a final error of 0.005086369812488556 after 38 total iterations\n", - "Frame 195 done in 0.009857892990112305 with a final error of 0.0050928592681884766 after 22 total iterations\n", - "Frame 196 done in 0.009109020233154297 with a final error of 0.005108054727315903 after 30 total iterations\n", - "Frame 197 done in 0.00916910171508789 with a final error of 0.005126395262777805 after 30 total iterations\n", - "Frame 198 done in 0.007314920425415039 with a final error of 0.005137848202139139 after 36 total iterations\n", - "Frame 199 done in 0.007428884506225586 with a final error of 0.00513904495164752 after 42 total iterations\n", - "Frame 200 done in 0.00740504264831543 with a final error of 0.005156175699084997 after 42 total iterations\n", - "Frame 201 done in 0.008729219436645508 with a final error of 0.005167298950254917 after 57 total iterations\n", - "Frame 202 done in 0.007411003112792969 with a final error of 0.005153038073331118 after 42 total iterations\n", - "Frame 203 done in 0.007607936859130859 with a final error of 0.005135965533554554 after 44 total iterations\n", - "Frame 204 done in 0.007550954818725586 with a final error of 0.005122174974530935 after 42 total iterations\n", - "Frame 205 done in 0.007506132125854492 with a final error of 0.005098010413348675 after 44 total iterations\n", - "Frame 206 done in 0.007822036743164062 with a final error of 0.005076122935861349 after 42 total iterations\n", - "Frame 207 done in 0.0075130462646484375 with a final error of 0.005068906582891941 after 44 total iterations\n", - "Frame 208 done in 0.007897138595581055 with a final error of 0.005069514736533165 after 52 total iterations\n", - "Frame 209 done in 0.007445096969604492 with a final error of 0.005063577555119991 after 42 total iterations\n", - "Frame 210 done in 0.007581949234008789 with a final error of 0.005063558928668499 after 44 total iterations\n", - "Frame 211 done in 0.00757598876953125 with a final error of 0.005069705191999674 after 48 total iterations\n", - "Frame 212 done in 0.007565021514892578 with a final error of 0.005059659481048584 after 44 total iterations\n", - "Frame 213 done in 0.00742793083190918 with a final error of 0.005032643675804138 after 42 total iterations\n", - "Frame 214 done in 0.00755000114440918 with a final error of 0.005027324892580509 after 42 total iterations\n", - "Frame 215 done in 0.007436990737915039 with a final error of 0.005043716635555029 after 42 total iterations\n", - "Frame 216 done in 0.0074579715728759766 with a final error of 0.005041925702244043 after 42 total iterations\n", - "Frame 217 done in 0.007470846176147461 with a final error of 0.005062658805400133 after 42 total iterations\n", - "Frame 218 done in 0.007099151611328125 with a final error of 0.005118595436215401 after 28 total iterations\n", - "Frame 219 done in 0.0077669620513916016 with a final error of 0.005145717412233353 after 42 total iterations\n", - "Frame 220 done in 0.007072925567626953 with a final error of 0.005156960338354111 after 28 total iterations\n", - "Frame 221 done in 0.006972312927246094 with a final error of 0.00515423808246851 after 22 total iterations\n", - "Frame 222 done in 0.007022857666015625 with a final error of 0.005167413502931595 after 26 total iterations\n", - "Frame 223 done in 0.006929159164428711 with a final error of 0.0051792399026453495 after 22 total iterations\n", - "Frame 224 done in 0.006970882415771484 with a final error of 0.005190040450543165 after 22 total iterations\n", - "Frame 225 done in 0.007399797439575195 with a final error of 0.005179873667657375 after 38 total iterations\n", - "Frame 226 done in 0.007596015930175781 with a final error of 0.0051635513082146645 after 42 total iterations\n", - "Frame 227 done in 0.007634878158569336 with a final error of 0.0051493337377905846 after 44 total iterations\n", - "Frame 228 done in 0.008315086364746094 with a final error of 0.005122290458530188 after 63 total iterations\n", - "Frame 229 done in 0.007874727249145508 with a final error of 0.0050459858030080795 after 52 total iterations\n", - "Frame 230 done in 0.008083343505859375 with a final error of 0.005030237138271332 after 46 total iterations\n", - "Frame 231 done in 0.008111000061035156 with a final error of 0.005028518848121166 after 52 total iterations\n", - "Frame 232 done in 0.007856130599975586 with a final error of 0.0050520021468400955 after 42 total iterations\n", - "Frame 233 done in 0.0076253414154052734 with a final error of 0.005047572776675224 after 42 total iterations\n", - "Frame 234 done in 0.007637977600097656 with a final error of 0.005050374194979668 after 42 total iterations\n", - "Frame 235 done in 0.007542133331298828 with a final error of 0.0050555383786559105 after 42 total iterations\n", - "Frame 236 done in 0.007589101791381836 with a final error of 0.005069114733487368 after 42 total iterations\n", - "Frame 237 done in 0.007675886154174805 with a final error of 0.005074643064290285 after 44 total iterations\n", - "Frame 238 done in 0.0069620609283447266 with a final error of 0.0050964560359716415 after 22 total iterations\n", - "Frame 239 done in 0.007573843002319336 with a final error of 0.005114346742630005 after 42 total iterations\n", - "Frame 240 done in 0.007533073425292969 with a final error of 0.005111869890242815 after 42 total iterations\n", - "Frame 241 done in 0.008428096771240234 with a final error of 0.005111792124807835 after 72 total iterations\n", - "Frame 242 done in 0.007524967193603516 with a final error of 0.005100843030959368 after 42 total iterations\n", - "Frame 243 done in 0.007613182067871094 with a final error of 0.005111007019877434 after 42 total iterations\n", - "Frame 244 done in 0.007535696029663086 with a final error of 0.005142025649547577 after 44 total iterations\n", - "Frame 245 done in 0.0076138973236083984 with a final error of 0.0050919936038553715 after 42 total iterations\n", - "Frame 246 done in 0.007860183715820312 with a final error of 0.005102409981191158 after 57 total iterations\n", - "Frame 247 done in 0.0071010589599609375 with a final error of 0.005100742913782597 after 26 total iterations\n", - "Frame 248 done in 0.008595943450927734 with a final error of 0.005076195579022169 after 30 total iterations\n", - "Frame 249 done in 0.007938861846923828 with a final error of 0.005059985443949699 after 36 total iterations\n", - "Frame 250 done in 0.008367300033569336 with a final error of 0.0050651151686906815 after 46 total iterations\n", - "Mean error: 0.005123068578541279\n", - "Standard deviation of error: 0.00013031881826464087\n", - "Mean total iters: 193.22401428222656\n", - "Standard deviation of total iters: 351.7825622558594\n", - "starting offset optimization\n", - "Begining offset optimization:\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "/Users/charleszhang/miniforge3/envs/stac-mjx/lib/python3.11/site-packages/jaxopt/_src/optax_wrapper.py:120: DeprecationWarning: jax.tree_map is deprecated: use jax.tree.map (jax v0.4.25 or newer) or jax.tree_util.tree_map (any JAX version).\n", - " return jax.tree_map(update_fun, params, updates)\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Final error of Tracedwith with\n", - " val = Tracedwith\n", - " batch_dim = 0\n", - "offset optimization finished in 10.241055965423584\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "2024-09-02 14:06:42.632280: E external/xla/xla/service/slow_operation_alarm.cc:65] \n", - "********************************\n", - "[Compiling module jit_offset_optimization] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", - "********************************\n", - "2024-09-02 14:12:41.744427: E external/xla/xla/service/slow_operation_alarm.cc:133] The operation took 7m59.115926s\n", - "\n", - "********************************\n", - "[Compiling module jit_offset_optimization] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", - "********************************\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Calibration iteration: 2/6\n", - "Pose Optimization:\n", - "Pose Optimization done in 2.2158567905426025\n", - "Frame 1 done in 0.0550692081451416 with a final error of 0.0004270477220416069 after 1394 total iterations\n", - "Frame 2 done in 0.0218660831451416 with a final error of 0.0003349890757817775 after 423 total iterations\n", - "Frame 3 done in 0.014807701110839844 with a final error of 0.0003060190938413143 after 207 total iterations\n", - "Frame 4 done in 0.00894021987915039 with a final error of 0.0004179497482255101 after 58 total iterations\n", - "Frame 5 done in 0.008651018142700195 with a final error of 0.00032195920357480645 after 58 total iterations\n", - "Frame 6 done in 0.008121013641357422 with a final error of 0.00030438206158578396 after 43 total iterations\n", - "Frame 7 done in 0.008421897888183594 with a final error of 0.00030490357312373817 after 54 total iterations\n", - "Frame 8 done in 0.008800983428955078 with a final error of 0.00029276375425979495 after 61 total iterations\n", - "Frame 9 done in 0.008367776870727539 with a final error of 0.0002804826945066452 after 46 total iterations\n", - "Frame 10 done in 0.008177995681762695 with a final error of 0.0002776140463538468 after 42 total iterations\n", - "Frame 11 done in 0.010174989700317383 with a final error of 0.00027034274535253644 after 42 total iterations\n", - "Frame 12 done in 0.008605003356933594 with a final error of 0.00027413113275542855 after 46 total iterations\n", - "Frame 13 done in 0.00854802131652832 with a final error of 0.000259468361036852 after 42 total iterations\n", - "Frame 14 done in 0.008550882339477539 with a final error of 0.00025570185971446335 after 42 total iterations\n", - "Frame 15 done in 0.009238004684448242 with a final error of 0.0002518875990062952 after 42 total iterations\n", - "Frame 16 done in 0.009788751602172852 with a final error of 0.0002599877188913524 after 50 total iterations\n", - "Frame 17 done in 0.011088848114013672 with a final error of 0.0002477381203789264 after 44 total iterations\n", - "Frame 18 done in 0.0127410888671875 with a final error of 0.00024949584621936083 after 55 total iterations\n", - "Frame 19 done in 0.016524791717529297 with a final error of 0.0002451379259582609 after 44 total iterations\n", - "Frame 20 done in 0.015712976455688477 with a final error of 0.000261053501162678 after 50 total iterations\n", - "Frame 21 done in 0.011008024215698242 with a final error of 0.0002511588390916586 after 44 total iterations\n", - "Frame 22 done in 0.008125066757202148 with a final error of 0.00024795590434223413 after 46 total iterations\n", - "Frame 23 done in 0.009885072708129883 with a final error of 0.0002443422272335738 after 60 total iterations\n", - "Frame 24 done in 0.008090972900390625 with a final error of 0.00025774422101676464 after 50 total iterations\n", - "Frame 25 done in 0.008156776428222656 with a final error of 0.0002471399202477187 after 44 total iterations\n", - "Frame 26 done in 0.008095979690551758 with a final error of 0.0002552584046497941 after 58 total iterations\n", - "Frame 27 done in 0.007835149765014648 with a final error of 0.0002479350077919662 after 44 total iterations\n", - "Frame 28 done in 0.007730007171630859 with a final error of 0.00024849409237504005 after 42 total iterations\n", - "Frame 29 done in 0.008889198303222656 with a final error of 0.0002689262619242072 after 42 total iterations\n", - "Frame 30 done in 0.008579015731811523 with a final error of 0.0003006899496540427 after 26 total iterations\n", - "Frame 31 done in 0.009285211563110352 with a final error of 0.00030493660597130656 after 66 total iterations\n", - "Frame 32 done in 0.009341001510620117 with a final error of 0.000295000325422734 after 50 total iterations\n", - "Frame 33 done in 0.009683847427368164 with a final error of 0.0002801143564283848 after 52 total iterations\n", - "Frame 34 done in 0.009363889694213867 with a final error of 0.00028404651675373316 after 52 total iterations\n", - "Frame 35 done in 0.008674144744873047 with a final error of 0.0002756035537458956 after 63 total iterations\n", - "Frame 36 done in 0.008574962615966797 with a final error of 0.0002856321516446769 after 59 total iterations\n", - "Frame 37 done in 0.008237838745117188 with a final error of 0.00032041489612311125 after 43 total iterations\n", - "Frame 38 done in 0.008603096008300781 with a final error of 0.00033132205135188997 after 46 total iterations\n", - "Frame 39 done in 0.007883071899414062 with a final error of 0.00036663596983999014 after 34 total iterations\n", - "Frame 40 done in 0.00820612907409668 with a final error of 0.00034179026260972023 after 40 total iterations\n", - "Frame 41 done in 0.009435176849365234 with a final error of 0.000314696051646024 after 60 total iterations\n", - "Frame 42 done in 0.008590221405029297 with a final error of 0.0003118123859167099 after 30 total iterations\n", - "Frame 43 done in 0.00830698013305664 with a final error of 0.000307805894408375 after 44 total iterations\n", - "Frame 44 done in 0.008372068405151367 with a final error of 0.00030236804741434753 after 42 total iterations\n", - "Frame 45 done in 0.00793600082397461 with a final error of 0.000297585385851562 after 50 total iterations\n", - "Frame 46 done in 0.008914947509765625 with a final error of 0.0002791039296425879 after 69 total iterations\n", - "Frame 47 done in 0.007899999618530273 with a final error of 0.0002938958932645619 after 42 total iterations\n", - "Frame 48 done in 0.008249998092651367 with a final error of 0.00028681522235274315 after 34 total iterations\n", - "Frame 49 done in 0.0076830387115478516 with a final error of 0.0002795862383209169 after 38 total iterations\n", - "Frame 50 done in 0.008129119873046875 with a final error of 0.000276851758826524 after 38 total iterations\n", - "Frame 51 done in 0.007643938064575195 with a final error of 0.00028642016695812345 after 30 total iterations\n", - "Frame 52 done in 0.008881092071533203 with a final error of 0.00028090053820051253 after 38 total iterations\n", - "Frame 53 done in 0.009042978286743164 with a final error of 0.0002845408162102103 after 38 total iterations\n", - "Frame 54 done in 0.008002042770385742 with a final error of 0.00027841911651194096 after 22 total iterations\n", - "Frame 55 done in 0.009028911590576172 with a final error of 0.00026890062144957483 after 38 total iterations\n", - "Frame 56 done in 0.009200096130371094 with a final error of 0.00026581433485262096 after 38 total iterations\n", - "Frame 57 done in 0.011327981948852539 with a final error of 0.00027267661062069237 after 30 total iterations\n", - "Frame 58 done in 0.008275270462036133 with a final error of 0.0002658166631590575 after 38 total iterations\n", - "Frame 59 done in 0.007643938064575195 with a final error of 0.0002686259103938937 after 26 total iterations\n", - "Frame 60 done in 0.007527828216552734 with a final error of 0.00026649085339158773 after 22 total iterations\n", - "Frame 61 done in 0.007539987564086914 with a final error of 0.0002614949771668762 after 30 total iterations\n", - "Frame 62 done in 0.008924245834350586 with a final error of 0.0002546023461036384 after 42 total iterations\n", - "Frame 63 done in 0.008349895477294922 with a final error of 0.0002571809745859355 after 42 total iterations\n", - "Frame 64 done in 0.008514165878295898 with a final error of 0.0002560767170507461 after 42 total iterations\n", - "Frame 65 done in 0.008258819580078125 with a final error of 0.0002535758540034294 after 42 total iterations\n", - "Frame 66 done in 0.010390996932983398 with a final error of 0.0002486733428668231 after 79 total iterations\n", - "Frame 67 done in 0.008198022842407227 with a final error of 0.00025028653908520937 after 42 total iterations\n", - "Frame 68 done in 0.008425235748291016 with a final error of 0.00024485698668286204 after 52 total iterations\n", - "Frame 69 done in 0.008163928985595703 with a final error of 0.00024612934794276953 after 42 total iterations\n", - "Frame 70 done in 0.009217023849487305 with a final error of 0.0002416867937427014 after 52 total iterations\n", - "Frame 71 done in 0.008411884307861328 with a final error of 0.00024468396441079676 after 42 total iterations\n", - "Frame 72 done in 0.008849143981933594 with a final error of 0.0002402452810201794 after 57 total iterations\n", - "Frame 73 done in 0.008321762084960938 with a final error of 0.00024080651928670704 after 42 total iterations\n", - "Frame 74 done in 0.008037090301513672 with a final error of 0.00023937097284942865 after 42 total iterations\n", - "Frame 75 done in 0.008105039596557617 with a final error of 0.00023945662542246282 after 42 total iterations\n", - "Frame 76 done in 0.008767127990722656 with a final error of 0.00023618360864929855 after 47 total iterations\n", - "Frame 77 done in 0.008812904357910156 with a final error of 0.00023834645980969071 after 42 total iterations\n", - "Frame 78 done in 0.008438587188720703 with a final error of 0.00023801237693987787 after 42 total iterations\n", - "Frame 79 done in 0.008246898651123047 with a final error of 0.00023638778657186776 after 42 total iterations\n", - "Frame 80 done in 0.008294343948364258 with a final error of 0.00023624826280865818 after 42 total iterations\n", - "Frame 81 done in 0.009750604629516602 with a final error of 0.00023699639132246375 after 42 total iterations\n", - "Frame 82 done in 0.007863998413085938 with a final error of 0.00023523543495684862 after 42 total iterations\n", - "Frame 83 done in 0.007681131362915039 with a final error of 0.00023585895542055368 after 42 total iterations\n", - "Frame 84 done in 0.0077550411224365234 with a final error of 0.00023595505626872182 after 42 total iterations\n", - "Frame 85 done in 0.007508993148803711 with a final error of 0.00023732901900075376 after 42 total iterations\n", - "Frame 86 done in 0.007754087448120117 with a final error of 0.00023608902120031416 after 42 total iterations\n", - "Frame 87 done in 0.0076978206634521484 with a final error of 0.00023581527057103813 after 42 total iterations\n", - "Frame 88 done in 0.009012937545776367 with a final error of 0.00023486392456106842 after 42 total iterations\n", - "Frame 89 done in 0.008217096328735352 with a final error of 0.00023465478443540633 after 42 total iterations\n", - "Frame 90 done in 0.008388996124267578 with a final error of 0.00023651224910281599 after 42 total iterations\n", - "Frame 91 done in 0.009918928146362305 with a final error of 0.00023611568030901253 after 42 total iterations\n", - "Frame 92 done in 0.009376049041748047 with a final error of 0.00023575517116114497 after 42 total iterations\n", - "Frame 93 done in 0.0083770751953125 with a final error of 0.00023834177409298718 after 42 total iterations\n", - "Frame 94 done in 0.008311033248901367 with a final error of 0.00023836715263314545 after 42 total iterations\n", - "Frame 95 done in 0.00820016860961914 with a final error of 0.0002347258705412969 after 44 total iterations\n", - "Frame 96 done in 0.008366823196411133 with a final error of 0.0002380095247644931 after 46 total iterations\n", - "Frame 97 done in 0.010039091110229492 with a final error of 0.00021929237118456513 after 47 total iterations\n", - "Frame 98 done in 0.008118867874145508 with a final error of 0.0002131161163561046 after 46 total iterations\n", - "Frame 99 done in 0.007983922958374023 with a final error of 0.00019633176270872355 after 53 total iterations\n", - "Frame 100 done in 0.008378028869628906 with a final error of 0.0001984072441700846 after 60 total iterations\n", - "Frame 101 done in 0.007821083068847656 with a final error of 0.00019747173064388335 after 40 total iterations\n", - "Frame 102 done in 0.007766008377075195 with a final error of 0.00019346110639162362 after 42 total iterations\n", - "Frame 103 done in 0.007683277130126953 with a final error of 0.00019486711244098842 after 28 total iterations\n", - "Frame 104 done in 0.009330987930297852 with a final error of 0.00019106495892629027 after 47 total iterations\n", - "Frame 105 done in 0.00892782211303711 with a final error of 0.00018657499458640814 after 32 total iterations\n", - "Frame 106 done in 0.00931406021118164 with a final error of 0.0001819920289563015 after 32 total iterations\n", - "Frame 107 done in 0.008879899978637695 with a final error of 0.00016121385851874948 after 44 total iterations\n", - "Frame 108 done in 0.008080005645751953 with a final error of 0.00016527497791685164 after 34 total iterations\n", - "Frame 109 done in 0.008836984634399414 with a final error of 0.0001539854274597019 after 42 total iterations\n", - "Frame 110 done in 0.008368968963623047 with a final error of 0.00014780345372855663 after 42 total iterations\n", - "Frame 111 done in 0.0084991455078125 with a final error of 0.00014504459977615625 after 42 total iterations\n", - "Frame 112 done in 0.008382081985473633 with a final error of 0.00014718144666403532 after 26 total iterations\n", - "Frame 113 done in 0.009041070938110352 with a final error of 0.00013695508823730052 after 69 total iterations\n", - "Frame 114 done in 0.008928060531616211 with a final error of 0.00014689151430502534 after 64 total iterations\n", - 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"Frame 160 done in 0.010285139083862305 with a final error of 0.0001755372213665396 after 67 total iterations\n", - "Frame 161 done in 0.00918126106262207 with a final error of 0.00017342336650472134 after 42 total iterations\n", - "Frame 162 done in 0.008447885513305664 with a final error of 0.00017992018547374755 after 42 total iterations\n", - "Frame 163 done in 0.009595870971679688 with a final error of 0.00018598033057060093 after 42 total iterations\n", - "Frame 164 done in 0.008194923400878906 with a final error of 0.00018554768757894635 after 46 total iterations\n", - "Frame 165 done in 0.007387876510620117 with a final error of 0.00020238113938830793 after 22 total iterations\n", - "Frame 166 done in 0.0077800750732421875 with a final error of 0.0002059538383036852 after 34 total iterations\n", - "Frame 167 done in 0.007944107055664062 with a final error of 0.0002134165115421638 after 36 total iterations\n", - "Frame 168 done in 0.00850987434387207 with a final error of 0.00021977259893901646 after 42 total iterations\n", - "Frame 169 done in 0.008697271347045898 with a final error of 0.00023233598039951175 after 26 total iterations\n", - "Frame 170 done in 0.008846759796142578 with a final error of 0.00021785337594337761 after 53 total iterations\n", - "Frame 171 done in 0.010311126708984375 with a final error of 0.0002251304395031184 after 48 total iterations\n", - "Frame 172 done in 0.00948190689086914 with a final error of 0.0002381815284024924 after 52 total iterations\n", - "Frame 173 done in 0.009333372116088867 with a final error of 0.00023308499658014625 after 44 total iterations\n", - "Frame 174 done in 0.009071111679077148 with a final error of 0.000232346064876765 after 44 total iterations\n", - "Frame 175 done in 0.008311271667480469 with a final error of 0.00022327432816382498 after 42 total iterations\n", - "Frame 176 done in 0.010802984237670898 with a final error of 0.0002208805817645043 after 42 total iterations\n", - "Frame 177 done in 0.008276939392089844 with a final error of 0.00022605981212109327 after 50 total iterations\n", - "Frame 178 done in 0.008439779281616211 with a final error of 0.00021851023484487087 after 52 total iterations\n", - "Frame 179 done in 0.008965015411376953 with a final error of 0.00020232483802828938 after 44 total iterations\n", - "Frame 180 done in 0.008625030517578125 with a final error of 0.0002082927676383406 after 52 total iterations\n", - "Frame 181 done in 0.00802922248840332 with a final error of 0.0001984037080546841 after 49 total iterations\n", - "Frame 182 done in 0.008680105209350586 with a final error of 0.00019153978792019188 after 75 total iterations\n", - "Frame 183 done in 0.007855892181396484 with a final error of 0.0001955043408088386 after 42 total iterations\n", - "Frame 184 done in 0.007832050323486328 with a final error of 0.00018649116100277752 after 38 total iterations\n", - "Frame 185 done in 0.007811784744262695 with a final error of 0.00018707361596170813 after 42 total iterations\n", - "Frame 186 done in 0.008625030517578125 with a final error of 0.00017649558139964938 after 65 total iterations\n", - "Frame 187 done in 0.007788658142089844 with a final error of 0.0001853471912909299 after 34 total iterations\n", - "Frame 188 done in 0.008965253829956055 with a final error of 0.00017601544095668942 after 38 total iterations\n", - "Frame 189 done in 0.007473945617675781 with a final error of 0.00018046583863906562 after 30 total iterations\n", - "Frame 190 done in 0.008291006088256836 with a final error of 0.00018161530897486955 after 52 total iterations\n", - "Frame 191 done in 0.008183956146240234 with a final error of 0.00016924864030443132 after 42 total iterations\n", - "Frame 192 done in 0.0073087215423583984 with a final error of 0.0001809652167139575 after 22 total iterations\n", - "Frame 193 done in 0.008116006851196289 with a final error of 0.00018665409879758954 after 34 total iterations\n", - "Frame 194 done in 0.0077550411224365234 with a final error of 0.00017791078425943851 after 42 total iterations\n", - "Frame 195 done in 0.007831096649169922 with a final error of 0.00018635991727933288 after 30 total iterations\n", - "Frame 196 done in 0.008862972259521484 with a final error of 0.00019037883612327278 after 42 total iterations\n", - "Frame 197 done in 0.008625984191894531 with a final error of 0.00020054157357662916 after 42 total iterations\n", - "Frame 198 done in 0.008253097534179688 with a final error of 0.00019634033378679305 after 42 total iterations\n", - "Frame 199 done in 0.008153915405273438 with a final error of 0.00019418270676396787 after 44 total iterations\n", - "Frame 200 done in 0.00826883316040039 with a final error of 0.00018441316206008196 after 44 total iterations\n", - "Frame 201 done in 0.008710145950317383 with a final error of 0.00018062643357552588 after 42 total iterations\n", - "Frame 202 done in 0.008494853973388672 with a final error of 0.0001870840205810964 after 44 total iterations\n", - "Frame 203 done in 0.00818181037902832 with a final error of 0.00016970366414170712 after 44 total iterations\n", - "Frame 204 done in 0.007977008819580078 with a final error of 0.00016218294331338257 after 42 total iterations\n", - "Frame 205 done in 0.009062767028808594 with a final error of 0.00015428365441039205 after 42 total iterations\n", - "Frame 206 done in 0.00852513313293457 with a final error of 0.00015831564087420702 after 46 total iterations\n", - "Frame 207 done in 0.009560108184814453 with a final error of 0.00014470447786152363 after 42 total iterations\n", - "Frame 208 done in 0.008344173431396484 with a final error of 0.00015259665087796748 after 52 total iterations\n", - "Frame 209 done in 0.007901191711425781 with a final error of 0.00013927195686846972 after 44 total iterations\n", - "Frame 210 done in 0.00962209701538086 with a final error of 0.0001333187537966296 after 55 total iterations\n", - "Frame 211 done in 0.008480072021484375 with a final error of 0.0001303059107158333 after 49 total iterations\n", - "Frame 212 done in 0.008401155471801758 with a final error of 0.0001246995379915461 after 44 total iterations\n", - "Frame 213 done in 0.008136987686157227 with a final error of 0.00012137463636463508 after 44 total iterations\n", - "Frame 214 done in 0.008396148681640625 with a final error of 0.00012692619930021465 after 52 total iterations\n", - "Frame 215 done in 0.008002042770385742 with a final error of 0.0001107243078877218 after 42 total iterations\n", - "Frame 216 done in 0.00839090347290039 with a final error of 0.00010877249587792903 after 46 total iterations\n", - "Frame 217 done in 0.007962942123413086 with a final error of 0.00010858671157620847 after 42 total iterations\n", - "Frame 218 done in 0.008749961853027344 with a final error of 0.00012310173769947141 after 50 total iterations\n", - "Frame 219 done in 0.009042024612426758 with a final error of 0.00013000860053580254 after 50 total iterations\n", - "Frame 220 done in 0.008004188537597656 with a final error of 0.00012290595623198897 after 42 total iterations\n", - "Frame 221 done in 0.008791923522949219 with a final error of 0.00012300556409172714 after 46 total iterations\n", - "Frame 222 done in 0.008565187454223633 with a final error of 0.00012645815149880946 after 44 total iterations\n", - "Frame 223 done in 0.008258819580078125 with a final error of 0.0001281280565308407 after 46 total iterations\n", - "Frame 224 done in 0.009044885635375977 with a final error of 0.00013716018293052912 after 52 total iterations\n", - "Frame 225 done in 0.008465290069580078 with a final error of 0.00012673623859882355 after 47 total iterations\n", - "Frame 226 done in 0.009314775466918945 with a final error of 0.0001350872335024178 after 50 total iterations\n", - "Frame 227 done in 0.008565902709960938 with a final error of 0.00012323750706855208 after 56 total iterations\n", - "Frame 228 done in 0.00840616226196289 with a final error of 0.00012911070371046662 after 55 total iterations\n", - "Frame 229 done in 0.009735822677612305 with a final error of 0.00013077948824502528 after 48 total iterations\n", - "Frame 230 done in 0.00903010368347168 with a final error of 0.00013289356138557196 after 48 total iterations\n", - "Frame 231 done in 0.008267641067504883 with a final error of 0.00012281452654860914 after 48 total iterations\n", - "Frame 232 done in 0.008309125900268555 with a final error of 0.00012070292723365128 after 49 total iterations\n", - "Frame 233 done in 0.008343935012817383 with a final error of 0.00011895274656126276 after 47 total iterations\n", - "Frame 234 done in 0.007853984832763672 with a final error of 0.0001211038397741504 after 42 total iterations\n", - "Frame 235 done in 0.007948637008666992 with a final error of 0.000122725497931242 after 46 total iterations\n", - "Frame 236 done in 0.007832050323486328 with a final error of 0.00012701221567112952 after 42 total iterations\n", - "Frame 237 done in 0.008852005004882812 with a final error of 0.00012689203140325844 after 59 total iterations\n", - "Frame 238 done in 0.008247137069702148 with a final error of 0.00013257986574899405 after 42 total iterations\n", - "Frame 239 done in 0.007921934127807617 with a final error of 0.00013408323866315186 after 44 total iterations\n", - "Frame 240 done in 0.008310079574584961 with a final error of 0.00013643736019730568 after 44 total iterations\n", - "Frame 241 done in 0.008358240127563477 with a final error of 0.0001370172540191561 after 42 total iterations\n", - "Frame 242 done in 0.008298635482788086 with a final error of 0.00014995000674389303 after 52 total iterations\n", - "Frame 243 done in 0.008287191390991211 with a final error of 0.00014604846364818513 after 56 total iterations\n", - "Frame 244 done in 0.009054183959960938 with a final error of 0.0001513143361080438 after 50 total iterations\n", - "Frame 245 done in 0.008597850799560547 with a final error of 0.0001567105937283486 after 51 total iterations\n", - "Frame 246 done in 0.00918889045715332 with a final error of 0.0001808854576665908 after 46 total iterations\n", - "Frame 247 done in 0.009135007858276367 with a final error of 0.0001924955431604758 after 66 total iterations\n", - "Frame 248 done in 0.008878946304321289 with a final error of 0.00021974607079755515 after 61 total iterations\n", - "Frame 249 done in 0.008044004440307617 with a final error of 0.0002605695917736739 after 54 total iterations\n", - "Frame 250 done in 0.009279966354370117 with a final error of 0.00028490956174209714 after 73 total iterations\n", - "Mean error: 0.00020444543042685837\n", - "Standard deviation of error: 6.22774678049609e-05\n", - "Mean total iters: 51.932003021240234\n", - "Standard deviation of total iters: 89.51460266113281\n", - "starting offset optimization\n", - "Calibration iteration: 3/6\n", - "Pose Optimization:\n", - "Pose Optimization done in 2.211488962173462\n", - "Frame 1 done in 0.05872988700866699 with a final error of 0.0004068782727699727 after 1657 total iterations\n", - "Frame 2 done in 0.02249622344970703 with a final error of 0.00030790409073233604 after 465 total iterations\n", - "Frame 3 done in 0.01340794563293457 with a final error of 0.00027665597735904157 after 205 total iterations\n", - "Frame 4 done in 0.009003162384033203 with a final error of 0.0002945298911072314 after 78 total iterations\n", - "Frame 5 done in 0.009067058563232422 with a final error of 0.00026858161436393857 after 72 total iterations\n", - "Frame 6 done in 0.007866144180297852 with a final error of 0.00028035001014359295 after 38 total iterations\n", - "Frame 7 done in 0.008717060089111328 with a final error of 0.00026015553157776594 after 57 total iterations\n", - "Frame 8 done in 0.007786989212036133 with a final error of 0.0002626385830808431 after 42 total iterations\n", - "Frame 9 done in 0.00933384895324707 with a final error of 0.0002579533029347658 after 26 total iterations\n", - "Frame 10 done in 0.0073168277740478516 with a final error of 0.00026574780349619687 after 26 total iterations\n", - "Frame 11 done in 0.007317066192626953 with a final error of 0.00026183377485722303 after 22 total iterations\n", - "Frame 12 done in 0.007853984832763672 with a final error of 0.0002574142417870462 after 26 total iterations\n", - "Frame 13 done in 0.007238864898681641 with a final error of 0.0002544449525885284 after 22 total iterations\n", - "Frame 14 done in 0.007650136947631836 with a final error of 0.0002454399364069104 after 34 total iterations\n", - "Frame 15 done in 0.007812976837158203 with a final error of 0.0002471058687660843 after 22 total iterations\n", - "Frame 16 done in 0.007356882095336914 with a final error of 0.00024463338195346296 after 26 total iterations\n", - "Frame 17 done in 0.008774042129516602 with a final error of 0.00023825230891816318 after 38 total iterations\n", - "Frame 18 done in 0.008030891418457031 with a final error of 0.00023578995023854077 after 42 total iterations\n", - "Frame 19 done in 0.012138843536376953 with a final error of 0.00023412771406583488 after 42 total iterations\n", - "Frame 20 done in 0.009645938873291016 with a final error of 0.00023530368343926966 after 69 total iterations\n", - "Frame 21 done in 0.009229183197021484 with a final error of 0.00023509858874604106 after 62 total iterations\n", - "Frame 22 done in 0.00824880599975586 with a final error of 0.0002339604398002848 after 42 total iterations\n", - "Frame 23 done in 0.007897138595581055 with a final error of 0.00023418597993440926 after 42 total iterations\n", - "Frame 24 done in 0.008625030517578125 with a final error of 0.00023720395984128118 after 58 total iterations\n", - "Frame 25 done in 0.008539915084838867 with a final error of 0.00023182736185844988 after 42 total iterations\n", - "Frame 26 done in 0.008440971374511719 with a final error of 0.0002412680914858356 after 48 total iterations\n", - "Frame 27 done in 0.008473873138427734 with a final error of 0.00023306976072490215 after 42 total iterations\n", - "Frame 28 done in 0.00852203369140625 with a final error of 0.00024428029428236187 after 48 total iterations\n", - "Frame 29 done in 0.00811004638671875 with a final error of 0.00025893180281855166 after 42 total iterations\n", - "Frame 30 done in 0.010185003280639648 with a final error of 0.0003021701704710722 after 30 total iterations\n", - "Frame 31 done in 0.008280038833618164 with a final error of 0.00031110664713196456 after 30 total iterations\n", - "Frame 32 done in 0.00922703742980957 with a final error of 0.0002856534847524017 after 66 total iterations\n", - "Frame 33 done in 0.009132862091064453 with a final error of 0.0002824930415954441 after 59 total iterations\n", - "Frame 34 done in 0.009171009063720703 with a final error of 0.00028445603675208986 after 71 total iterations\n", - "Frame 35 done in 0.009294748306274414 with a final error of 0.0002412554167676717 after 85 total iterations\n", - "Frame 36 done in 0.008839845657348633 with a final error of 0.00026274059200659394 after 69 total iterations\n", - "Frame 37 done in 0.008790016174316406 with a final error of 0.00026535644428804517 after 71 total iterations\n", - "Frame 38 done in 0.00899815559387207 with a final error of 0.0002627731882967055 after 71 total iterations\n", - "Frame 39 done in 0.009521961212158203 with a final error of 0.00026503612753003836 after 54 total iterations\n", - "Frame 40 done in 0.008769035339355469 with a final error of 0.00028026988729834557 after 44 total iterations\n", - "Frame 41 done in 0.008014678955078125 with a final error of 0.0002832550962921232 after 34 total iterations\n", - "Frame 42 done in 0.009011268615722656 with a final error of 0.0002639371086843312 after 38 total iterations\n", - "Frame 43 done in 0.008075952529907227 with a final error of 0.00027123308973386884 after 22 total iterations\n", - "Frame 44 done in 0.008383989334106445 with a final error of 0.00026050570886582136 after 30 total iterations\n", - "Frame 45 done in 0.00914311408996582 with a final error of 0.000250220880843699 after 53 total iterations\n", - "Frame 46 done in 0.008656024932861328 with a final error of 0.0002438850497128442 after 42 total iterations\n", - "Frame 47 done in 0.008469104766845703 with a final error of 0.00025140345678664744 after 52 total iterations\n", - "Frame 48 done in 0.010270118713378906 with a final error of 0.0002287964744027704 after 71 total iterations\n", - "Frame 49 done in 0.007874011993408203 with a final error of 0.00023585041344631463 after 30 total iterations\n", - "Frame 50 done in 0.009048938751220703 with a final error of 0.0002336979378014803 after 48 total iterations\n", - "Frame 51 done in 0.008499860763549805 with a final error of 0.00023464279365725815 after 34 total iterations\n", - "Frame 52 done in 0.008284807205200195 with a final error of 0.0002364131505601108 after 45 total iterations\n", - "Frame 53 done in 0.009026050567626953 with a final error of 0.0002280781336594373 after 42 total iterations\n", - "Frame 54 done in 0.009160041809082031 with a final error of 0.0002275584265589714 after 45 total iterations\n", - "Frame 55 done in 0.00816202163696289 with a final error of 0.00021770477178506553 after 26 total iterations\n", - "Frame 56 done in 0.008762836456298828 with a final error of 0.00022231493494473398 after 40 total iterations\n", - "Frame 57 done in 0.008478164672851562 with a final error of 0.00022165835252963006 after 22 total iterations\n", - "Frame 58 done in 0.008534908294677734 with a final error of 0.0002158212591893971 after 42 total iterations\n", - "Frame 59 done in 0.008188962936401367 with a final error of 0.0002115897077601403 after 44 total iterations\n", - "Frame 60 done in 0.008153200149536133 with a final error of 0.00020711854449473321 after 54 total iterations\n", - "Frame 61 done in 0.00832986831665039 with a final error of 0.0002116863033734262 after 48 total iterations\n", - "Frame 62 done in 0.008005857467651367 with a final error of 0.00020831674919463694 after 52 total iterations\n", - "Frame 63 done in 0.00829315185546875 with a final error of 0.00020187385962344706 after 44 total iterations\n", - "Frame 64 done in 0.008203983306884766 with a final error of 0.0002003103436436504 after 46 total iterations\n", - "Frame 65 done in 0.008517026901245117 with a final error of 0.00019719693227671087 after 46 total iterations\n", - "Frame 66 done in 0.007987022399902344 with a final error of 0.00020570358901750296 after 52 total iterations\n", - "Frame 67 done in 0.009689092636108398 with a final error of 0.00020495221542660147 after 50 total iterations\n", - "Frame 68 done in 0.008713960647583008 with a final error of 0.00020071004109922796 after 62 total iterations\n", - "Frame 69 done in 0.009148836135864258 with a final error of 0.00019357859855517745 after 67 total iterations\n", - "Frame 70 done in 0.008769035339355469 with a final error of 0.0002001367975026369 after 52 total iterations\n", - "Frame 71 done in 0.008633852005004883 with a final error of 0.0002002757682930678 after 57 total iterations\n", - "Frame 72 done in 0.008752107620239258 with a final error of 0.00019749952480196953 after 52 total iterations\n", - "Frame 73 done in 0.008316993713378906 with a final error of 0.00019921446801163256 after 52 total iterations\n", - "Frame 74 done in 0.008659124374389648 with a final error of 0.00019738494302146137 after 59 total iterations\n", - "Frame 75 done in 0.00809788703918457 with a final error of 0.0001856108574429527 after 44 total iterations\n", - "Frame 76 done in 0.00835871696472168 with a final error of 0.0001947906712302938 after 52 total iterations\n", - "Frame 77 done in 0.00913095474243164 with a final error of 0.00019586844427976757 after 52 total iterations\n", - "Frame 78 done in 0.008806943893432617 with a final error of 0.00019700403208844364 after 52 total iterations\n", - "Frame 79 done in 0.008713960647583008 with a final error of 0.0001954898179974407 after 52 total iterations\n", - "Frame 80 done in 0.00854182243347168 with a final error of 0.0001938932982739061 after 57 total iterations\n", - "Frame 81 done in 0.008148908615112305 with a final error of 0.0001946824777405709 after 52 total iterations\n", - "Frame 82 done in 0.008465051651000977 with a final error of 0.0001924321986734867 after 57 total iterations\n", - "Frame 83 done in 0.008623838424682617 with a final error of 0.0001938737987075001 after 52 total iterations\n", - "Frame 84 done in 0.008654117584228516 with a final error of 0.00019347686611581594 after 52 total iterations\n", - "Frame 85 done in 0.00800180435180664 with a final error of 0.00019464752404019237 after 52 total iterations\n", - "Frame 86 done in 0.008974075317382812 with a final error of 0.0001940820657182485 after 57 total iterations\n", - "Frame 87 done in 0.008538961410522461 with a final error of 0.00019475104636512697 after 52 total iterations\n", - "Frame 88 done in 0.008366107940673828 with a final error of 0.0001934956235345453 after 52 total iterations\n", - "Frame 89 done in 0.008240938186645508 with a final error of 0.0001921717484947294 after 55 total iterations\n", - "Frame 90 done in 0.00882720947265625 with a final error of 0.0001933852763613686 after 62 total iterations\n", - "Frame 91 done in 0.008745908737182617 with a final error of 0.0001946225529536605 after 52 total iterations\n", - "Frame 92 done in 0.009009838104248047 with a final error of 0.00019386879284866154 after 62 total iterations\n", - "Frame 93 done in 0.008900880813598633 with a final error of 0.00019735252135433257 after 52 total iterations\n", - "Frame 94 done in 0.008960962295532227 with a final error of 0.00019400144810788333 after 67 total iterations\n", - "Frame 95 done in 0.007932901382446289 with a final error of 0.00018557811563368887 after 46 total iterations\n", - "Frame 96 done in 0.008741140365600586 with a final error of 0.00018990952230524272 after 52 total iterations\n", - "Frame 97 done in 0.008687734603881836 with a final error of 0.00017634467803873122 after 42 total iterations\n", - "Frame 98 done in 0.008579015731811523 with a final error of 0.0001785178028512746 after 60 total iterations\n", - "Frame 99 done in 0.00786900520324707 with a final error of 0.000163919641636312 after 44 total iterations\n", - "Frame 100 done in 0.008215904235839844 with a final error of 0.00015800163964740932 after 47 total iterations\n", - "Frame 101 done in 0.01019287109375 with a final error of 0.00015754236665088683 after 77 total iterations\n", - "Frame 102 done in 0.010180234909057617 with a final error of 0.00015823307330720127 after 49 total iterations\n", - "Frame 103 done in 0.007810115814208984 with a final error of 0.00016511348076164722 after 22 total iterations\n", - "Frame 104 done in 0.008984088897705078 with a final error of 0.00015033564704935998 after 38 total iterations\n", - "Frame 105 done in 0.010251998901367188 with a final error of 0.00014631144586019218 after 62 total iterations\n", - "Frame 106 done in 0.008575916290283203 with a final error of 0.0001461816136725247 after 46 total iterations\n", - "Frame 107 done in 0.00837087631225586 with a final error of 0.00013096172187943012 after 38 total iterations\n", - "Frame 108 done in 0.009170055389404297 with a final error of 0.00013721146387979388 after 55 total iterations\n", - "Frame 109 done in 0.010942935943603516 with a final error of 0.0001307152706431225 after 52 total iterations\n", - "Frame 110 done in 0.009454965591430664 with a final error of 0.00012684002285823226 after 22 total iterations\n", - "Frame 111 done in 0.008211851119995117 with a final error of 0.00012061567394994199 after 34 total iterations\n", - "Frame 112 done in 0.007904052734375 with a final error of 0.0001243928272742778 after 22 total iterations\n", - "Frame 113 done in 0.008521080017089844 with a final error of 0.00012130877439631149 after 42 total iterations\n", - "Frame 114 done in 0.008456945419311523 with a final error of 0.00013053661677986383 after 49 total iterations\n", - "Frame 115 done in 0.007606983184814453 with a final error of 0.00015531317330896854 after 26 total iterations\n", - "Frame 116 done in 0.009620904922485352 with a final error of 0.00017587901675142348 after 56 total iterations\n", - "Frame 117 done in 0.008474111557006836 with a final error of 0.00014855166955385357 after 59 total iterations\n", - "Frame 118 done in 0.009394168853759766 with a final error of 0.00014041915710549802 after 87 total iterations\n", - "Frame 119 done in 0.009209871292114258 with a final error of 0.00014121964341029525 after 62 total iterations\n", - "Frame 120 done in 0.008870840072631836 with a final error of 0.00016019403119571507 after 46 total iterations\n", - "Frame 121 done in 0.008246898651123047 with a final error of 0.00015303565305657685 after 44 total iterations\n", - "Frame 122 done in 0.007409811019897461 with a final error of 0.00016312720254063606 after 26 total iterations\n", - "Frame 123 done in 0.009119033813476562 with a final error of 0.00013330085494089872 after 86 total iterations\n", - "Frame 124 done in 0.008642196655273438 with a final error of 0.000151800864841789 after 30 total iterations\n", - "Frame 125 done in 0.008707046508789062 with a final error of 0.0001335766282863915 after 57 total iterations\n", - "Frame 126 done in 0.008234977722167969 with a final error of 0.0001424299698555842 after 22 total iterations\n", - "Frame 127 done in 0.008468151092529297 with a final error of 0.000134081463329494 after 42 total iterations\n", - "Frame 128 done in 0.00899195671081543 with a final error of 0.00012878414418082684 after 42 total iterations\n", - "Frame 129 done in 0.009219884872436523 with a final error of 0.00011932216148125008 after 52 total iterations\n", - "Frame 130 done in 0.008164167404174805 with a final error of 0.00013526689144782722 after 30 total iterations\n", - "Frame 131 done in 0.009579896926879883 with a final error of 0.00012640090426430106 after 34 total iterations\n", - "Frame 132 done in 0.007743120193481445 with a final error of 0.00013009697431698442 after 30 total iterations\n", - "Frame 133 done in 0.009967803955078125 with a final error of 0.00011501164408400655 after 91 total iterations\n", - "Frame 134 done in 0.008888006210327148 with a final error of 0.00011448594159446657 after 44 total iterations\n", - "Frame 135 done in 0.008471965789794922 with a final error of 0.00011326572712277994 after 42 total iterations\n", - "Frame 136 done in 0.008154869079589844 with a final error of 0.0001114128899644129 after 42 total iterations\n", - "Frame 137 done in 0.00797414779663086 with a final error of 0.00011098524555563927 after 42 total iterations\n", - "Frame 138 done in 0.00808405876159668 with a final error of 0.00011082434502895921 after 42 total iterations\n", - "Frame 139 done in 0.007918834686279297 with a final error of 0.00011091382475569844 after 42 total iterations\n", - "Frame 140 done in 0.00912618637084961 with a final error of 0.00011020871170330793 after 44 total iterations\n", - "Frame 141 done in 0.0077970027923583984 with a final error of 0.00010903505608439445 after 42 total iterations\n", - "Frame 142 done in 0.007996082305908203 with a final error of 0.00010681888670660555 after 42 total iterations\n", - "Frame 143 done in 0.007897138595581055 with a final error of 0.00010644430585671216 after 42 total iterations\n", - "Frame 144 done in 0.009350776672363281 with a final error of 0.000107218736957293 after 42 total iterations\n", - "Frame 145 done in 0.007915973663330078 with a final error of 0.0001085452240658924 after 42 total iterations\n", - "Frame 146 done in 0.008046865463256836 with a final error of 0.00011354516755091026 after 46 total iterations\n", - "Frame 147 done in 0.007794857025146484 with a final error of 0.0001160655083367601 after 42 total iterations\n", - "Frame 148 done in 0.008003950119018555 with a final error of 0.00012139963655499741 after 44 total iterations\n", - "Frame 149 done in 0.007646083831787109 with a final error of 0.0001291483931709081 after 42 total iterations\n", - "Frame 150 done in 0.007931947708129883 with a final error of 0.00013277314428705722 after 42 total iterations\n", - "Frame 151 done in 0.007969856262207031 with a final error of 0.00013858989404980093 after 44 total iterations\n", - "Frame 152 done in 0.008259296417236328 with a final error of 0.00015328291920013726 after 52 total iterations\n", - "Frame 153 done in 0.007793903350830078 with a final error of 0.00014220138837117702 after 44 total iterations\n", - "Frame 154 done in 0.00832509994506836 with a final error of 0.00014238060975912958 after 42 total iterations\n", - "Frame 155 done in 0.007812976837158203 with a final error of 0.00014108637697063386 after 42 total iterations\n", - "Frame 156 done in 0.009168148040771484 with a final error of 0.00014396302867680788 after 42 total iterations\n", - "Frame 157 done in 0.00800180435180664 with a final error of 0.0001429740514140576 after 44 total iterations\n", - "Frame 158 done in 0.008137226104736328 with a final error of 0.0001424432557541877 after 42 total iterations\n", - "Frame 159 done in 0.008514881134033203 with a final error of 0.0001440560445189476 after 44 total iterations\n", - "Frame 160 done in 0.009659051895141602 with a final error of 0.00015043247549328953 after 67 total iterations\n", - "Frame 161 done in 0.007925987243652344 with a final error of 0.0001475778699386865 after 42 total iterations\n", - "Frame 162 done in 0.008686065673828125 with a final error of 0.00015317299403250217 after 42 total iterations\n", - "Frame 163 done in 0.007905006408691406 with a final error of 0.00015957813593558967 after 42 total iterations\n", - "Frame 164 done in 0.008469104766845703 with a final error of 0.00015994138084352016 after 42 total iterations\n", - "Frame 165 done in 0.008404016494750977 with a final error of 0.0001700377615634352 after 30 total iterations\n", - "Frame 166 done in 0.008500099182128906 with a final error of 0.00017913797637447715 after 40 total iterations\n", - "Frame 167 done in 0.008502960205078125 with a final error of 0.00018710069707594812 after 43 total iterations\n", - "Frame 168 done in 0.009076118469238281 with a final error of 0.00019337525009177625 after 42 total iterations\n", - "Frame 169 done in 0.007925987243652344 with a final error of 0.000207090430194512 after 26 total iterations\n", - "Frame 170 done in 0.008829116821289062 with a final error of 0.00019604561384767294 after 63 total iterations\n", - "Frame 171 done in 0.008311986923217773 with a final error of 0.00020936215878464282 after 22 total iterations\n", - "Frame 172 done in 0.008298158645629883 with a final error of 0.00021307659335434437 after 28 total iterations\n", - "Frame 173 done in 0.007627725601196289 with a final error of 0.00021651935821864754 after 22 total iterations\n", - "Frame 174 done in 0.008713006973266602 with a final error of 0.0002156953269150108 after 46 total iterations\n", - "Frame 175 done in 0.008581161499023438 with a final error of 0.0002071807684842497 after 62 total iterations\n", - "Frame 176 done in 0.008764982223510742 with a final error of 0.00019545963732525706 after 44 total iterations\n", - "Frame 177 done in 0.00801706314086914 with a final error of 0.00018981689936481416 after 42 total iterations\n", - "Frame 178 done in 0.008733034133911133 with a final error of 0.00017994566587731242 after 44 total iterations\n", - "Frame 179 done in 0.009502887725830078 with a final error of 0.00017318256141152233 after 42 total iterations\n", - "Frame 180 done in 0.008085012435913086 with a final error of 0.0001703064190223813 after 42 total iterations\n", - "Frame 181 done in 0.008175849914550781 with a final error of 0.0001679117267485708 after 55 total iterations\n", - "Frame 182 done in 0.00924992561340332 with a final error of 0.00016347793280147016 after 81 total iterations\n", - "Frame 183 done in 0.008563995361328125 with a final error of 0.00016465256339870393 after 48 total iterations\n", - "Frame 184 done in 0.010162353515625 with a final error of 0.00015588803216814995 after 42 total iterations\n", - "Frame 185 done in 0.007948875427246094 with a final error of 0.0001570642489241436 after 42 total iterations\n", - "Frame 186 done in 0.008424758911132812 with a final error of 0.0001467714610043913 after 65 total iterations\n", - "Frame 187 done in 0.008746147155761719 with a final error of 0.0001467876718379557 after 80 total iterations\n", - "Frame 188 done in 0.00916600227355957 with a final error of 0.00013762552407570183 after 94 total iterations\n", - "Frame 189 done in 0.007460117340087891 with a final error of 0.00013508052506949753 after 32 total iterations\n", - "Frame 190 done in 0.007752895355224609 with a final error of 0.00014457156066782773 after 46 total iterations\n", - "Frame 191 done in 0.008030176162719727 with a final error of 0.00013345293700695038 after 42 total iterations\n", - "Frame 192 done in 0.007463932037353516 with a final error of 0.00014827358245383948 after 32 total iterations\n", - "Frame 193 done in 0.008105993270874023 with a final error of 0.00014434134936891496 after 38 total iterations\n", - "Frame 194 done in 0.007658958435058594 with a final error of 0.00015478262503165752 after 22 total iterations\n", - "Frame 195 done in 0.00796198844909668 with a final error of 0.0001562709512654692 after 42 total iterations\n", - "Frame 196 done in 0.009568929672241211 with a final error of 0.00015453547530341893 after 73 total iterations\n", - "Frame 197 done in 0.008784055709838867 with a final error of 0.00016809036605991423 after 58 total iterations\n", - "Frame 198 done in 0.008762836456298828 with a final error of 0.0001633229258004576 after 65 total iterations\n", - "Frame 199 done in 0.008791923522949219 with a final error of 0.00016588400467298925 after 46 total iterations\n", - "Frame 200 done in 0.009317874908447266 with a final error of 0.00016228405002038926 after 48 total iterations\n", - "Frame 201 done in 0.008623838424682617 with a final error of 0.0001606166479177773 after 46 total iterations\n", - "Frame 202 done in 0.008388042449951172 with a final error of 0.00015908313798718154 after 50 total iterations\n", - "Frame 203 done in 0.010359048843383789 with a final error of 0.00015170153346844018 after 46 total iterations\n", - "Frame 204 done in 0.00830388069152832 with a final error of 0.00014506532170344144 after 50 total iterations\n", - "Frame 205 done in 0.008207082748413086 with a final error of 0.00013797337305732071 after 44 total iterations\n", - "Frame 206 done in 0.008186817169189453 with a final error of 0.0001417284074705094 after 52 total iterations\n", - "Frame 207 done in 0.00916910171508789 with a final error of 0.00012800347758457065 after 46 total iterations\n", - "Frame 208 done in 0.00826406478881836 with a final error of 0.0001266718900296837 after 48 total iterations\n", - "Frame 209 done in 0.008539915084838867 with a final error of 0.00012172936840215698 after 42 total iterations\n", - "Frame 210 done in 0.008206844329833984 with a final error of 0.00011762695066863671 after 46 total iterations\n", - "Frame 211 done in 0.008704185485839844 with a final error of 0.00011286401422694325 after 54 total iterations\n", - "Frame 212 done in 0.00809788703918457 with a final error of 0.00010700100392568856 after 46 total iterations\n", - "Frame 213 done in 0.008390188217163086 with a final error of 0.00010416261648060754 after 51 total iterations\n", - "Frame 214 done in 0.009859800338745117 with a final error of 0.00010911934805335477 after 52 total iterations\n", - "Frame 215 done in 0.008026838302612305 with a final error of 9.381986455991864e-05 after 44 total iterations\n", - "Frame 216 done in 0.00825810432434082 with a final error of 0.00010044720693258569 after 52 total iterations\n", - "Frame 217 done in 0.00822901725769043 with a final error of 8.906816219678149e-05 after 42 total iterations\n", - "Frame 218 done in 0.007825851440429688 with a final error of 9.786670852918178e-05 after 22 total iterations\n", - "Frame 219 done in 0.007973194122314453 with a final error of 9.758913074620068e-05 after 42 total iterations\n", - "Frame 220 done in 0.007184028625488281 with a final error of 0.00010494801972527057 after 22 total iterations\n", - "Frame 221 done in 0.0077440738677978516 with a final error of 0.00010605403804220259 after 22 total iterations\n", - "Frame 222 done in 0.007426023483276367 with a final error of 0.00010944881796604022 after 26 total iterations\n", - "Frame 223 done in 0.008569955825805664 with a final error of 0.00010501986980671063 after 42 total iterations\n", - "Frame 224 done in 0.009198188781738281 with a final error of 0.00010287664190400392 after 42 total iterations\n", - "Frame 225 done in 0.00863194465637207 with a final error of 0.00010157737415283918 after 42 total iterations\n", - "Frame 226 done in 0.00973200798034668 with a final error of 0.00010107830166816711 after 42 total iterations\n", - "Frame 227 done in 0.008694171905517578 with a final error of 9.85210353974253e-05 after 44 total iterations\n", - "Frame 228 done in 0.008491992950439453 with a final error of 9.657035116106272e-05 after 42 total iterations\n", - "Frame 229 done in 0.009915828704833984 with a final error of 0.00010337962885387242 after 68 total iterations\n", - "Frame 230 done in 0.007837057113647461 with a final error of 9.971341933123767e-05 after 42 total iterations\n", - "Frame 231 done in 0.008810043334960938 with a final error of 9.52531408984214e-05 after 71 total iterations\n", - "Frame 232 done in 0.007897138595581055 with a final error of 9.522082837065682e-05 after 42 total iterations\n", - "Frame 233 done in 0.00860285758972168 with a final error of 9.421246068086475e-05 after 46 total iterations\n", - "Frame 234 done in 0.008454084396362305 with a final error of 9.536206198390573e-05 after 44 total iterations\n", - "Frame 235 done in 0.008108854293823242 with a final error of 9.72461566561833e-05 after 46 total iterations\n", - "Frame 236 done in 0.007915019989013672 with a final error of 0.00010008147364715114 after 46 total iterations\n", - "Frame 237 done in 0.008615970611572266 with a final error of 0.00010055228631244972 after 42 total iterations\n", - "Frame 238 done in 0.009329080581665039 with a final error of 0.00010528160055400804 after 42 total iterations\n", - "Frame 239 done in 0.008788108825683594 with a final error of 0.00010595735511742532 after 44 total iterations\n", - "Frame 240 done in 0.007976055145263672 with a final error of 0.00010803397162817419 after 42 total iterations\n", - "Frame 241 done in 0.008311033248901367 with a final error of 0.00010809856030391529 after 53 total iterations\n", - "Frame 242 done in 0.009943962097167969 with a final error of 0.00012082159810233861 after 52 total iterations\n", - "Frame 243 done in 0.008381128311157227 with a final error of 0.00011598074343055487 after 42 total iterations\n", - "Frame 244 done in 0.008756160736083984 with a final error of 0.00012103037443011999 after 42 total iterations\n", - "Frame 245 done in 0.0082550048828125 with a final error of 0.00012649898417294025 after 44 total iterations\n", - "Frame 246 done in 0.010062932968139648 with a final error of 0.0001413060526829213 after 94 total iterations\n", - "Frame 247 done in 0.0074920654296875 with a final error of 0.00015717832138761878 after 22 total iterations\n", - "Frame 248 done in 0.008157968521118164 with a final error of 0.00017982519057113677 after 50 total iterations\n", - "Frame 249 done in 0.008588075637817383 with a final error of 0.00023245385091286153 after 48 total iterations\n", - "Frame 250 done in 0.009484052658081055 with a final error of 0.0002492857165634632 after 69 total iterations\n", - "Mean error: 0.00017523787391837686\n", - "Standard deviation of error: 5.6732813391136006e-05\n", - "Mean total iters: 55.512001037597656\n", - "Standard deviation of total iters: 106.23921203613281\n", - "starting offset optimization\n", - "Calibration iteration: 4/6\n", - "Pose Optimization:\n", - "Pose Optimization done in 2.3269362449645996\n", - "Frame 1 done in 0.060189008712768555 with a final error of 0.0004076136974617839 after 1692 total iterations\n", - "Frame 2 done in 0.02217721939086914 with a final error of 0.0003093440318480134 after 466 total iterations\n", - "Frame 3 done in 0.014739274978637695 with a final error of 0.00027231534477323294 after 217 total iterations\n", - "Frame 4 done in 0.009111642837524414 with a final error of 0.00028634516638703644 after 74 total iterations\n", - "Frame 5 done in 0.009086847305297852 with a final error of 0.0002790559665299952 after 64 total iterations\n", - "Frame 6 done in 0.008713960647583008 with a final error of 0.0002595275000203401 after 62 total iterations\n", - "Frame 7 done in 0.008936882019042969 with a final error of 0.00026931724278256297 after 42 total iterations\n", - "Frame 8 done in 0.007889270782470703 with a final error of 0.0002668081142473966 after 28 total iterations\n", - "Frame 9 done in 0.00834202766418457 with a final error of 0.0002552283986005932 after 38 total iterations\n", - "Frame 10 done in 0.007974863052368164 with a final error of 0.00026157277170568705 after 22 total iterations\n", - "Frame 11 done in 0.00816202163696289 with a final error of 0.00025686895241960883 after 30 total iterations\n", - "Frame 12 done in 0.007953882217407227 with a final error of 0.00025309601915068924 after 22 total iterations\n", - "Frame 13 done in 0.00785207748413086 with a final error of 0.0002490288461558521 after 30 total iterations\n", - "Frame 14 done in 0.007342815399169922 with a final error of 0.0002459361858200282 after 22 total iterations\n", - "Frame 15 done in 0.007430076599121094 with a final error of 0.0002418939839117229 after 26 total iterations\n", - "Frame 16 done in 0.008366823196411133 with a final error of 0.00024017597024794668 after 22 total iterations\n", - "Frame 17 done in 0.008268117904663086 with a final error of 0.0002345539105590433 after 26 total iterations\n", - "Frame 18 done in 0.007925033569335938 with a final error of 0.00023848976707085967 after 22 total iterations\n", - "Frame 19 done in 0.008779048919677734 with a final error of 0.00023802925716154277 after 22 total iterations\n", - "Frame 20 done in 0.007857799530029297 with a final error of 0.00024643779033795 after 30 total iterations\n", - "Frame 21 done in 0.008791923522949219 with a final error of 0.00024622108321636915 after 26 total iterations\n", - "Frame 22 done in 0.007668972015380859 with a final error of 0.00024151286925189197 after 26 total iterations\n", - "Frame 23 done in 0.0077478885650634766 with a final error of 0.00024190149269998074 after 30 total iterations\n", - "Frame 24 done in 0.0077381134033203125 with a final error of 0.00024162474437616765 after 22 total iterations\n", - "Frame 25 done in 0.007598876953125 with a final error of 0.00023521625553257763 after 30 total iterations\n", - "Frame 26 done in 0.007335186004638672 with a final error of 0.0002391129673924297 after 22 total iterations\n", - "Frame 27 done in 0.009755849838256836 with a final error of 0.0002423041732981801 after 26 total iterations\n", - "Frame 28 done in 0.007266998291015625 with a final error of 0.0002428621519356966 after 22 total iterations\n", - "Frame 29 done in 0.009196996688842773 with a final error of 0.00025723743601702154 after 76 total iterations\n", - "Frame 30 done in 0.008137941360473633 with a final error of 0.00028139009373262525 after 49 total iterations\n", - "Frame 31 done in 0.008611202239990234 with a final error of 0.0002863116387743503 after 52 total iterations\n", - "Frame 32 done in 0.007858037948608398 with a final error of 0.0002724824007600546 after 42 total iterations\n", - "Frame 33 done in 0.008392810821533203 with a final error of 0.00025890651158988476 after 55 total iterations\n", - "Frame 34 done in 0.007915019989013672 with a final error of 0.00025857577566057444 after 47 total iterations\n", - "Frame 35 done in 0.008056163787841797 with a final error of 0.0002801806840579957 after 45 total iterations\n", - "Frame 36 done in 0.008913993835449219 with a final error of 0.00027663056971505284 after 47 total iterations\n", - "Frame 37 done in 0.008397102355957031 with a final error of 0.00028488555108197033 after 43 total iterations\n", - "Frame 38 done in 0.009382009506225586 with a final error of 0.0002628931833896786 after 96 total iterations\n", - "Frame 39 done in 0.009942054748535156 with a final error of 0.00024708168348297477 after 68 total iterations\n", - "Frame 40 done in 0.008260011672973633 with a final error of 0.0002517547400202602 after 59 total iterations\n", - "Frame 41 done in 0.009300947189331055 with a final error of 0.00024111550010275096 after 65 total iterations\n", - "Frame 42 done in 0.010843038558959961 with a final error of 0.0002300139603903517 after 67 total iterations\n", - "Frame 43 done in 0.008586883544921875 with a final error of 0.00023659481666982174 after 46 total iterations\n", - "Frame 44 done in 0.008330821990966797 with a final error of 0.00024050846695899963 after 46 total iterations\n", - "Frame 45 done in 0.00921773910522461 with a final error of 0.00021198212925810367 after 80 total iterations\n", - "Frame 46 done in 0.008717060089111328 with a final error of 0.0002242631744593382 after 51 total iterations\n", - "Frame 47 done in 0.008602142333984375 with a final error of 0.00022722932044416666 after 52 total iterations\n", - "Frame 48 done in 0.008423089981079102 with a final error of 0.00022161725792102516 after 34 total iterations\n", - "Frame 49 done in 0.0072939395904541016 with a final error of 0.00021715075126849115 after 22 total iterations\n", - "Frame 50 done in 0.007754087448120117 with a final error of 0.0002076260861940682 after 34 total iterations\n", - "Frame 51 done in 0.008765935897827148 with a final error of 0.00021995604038238525 after 26 total iterations\n", - "Frame 52 done in 0.00829005241394043 with a final error of 0.00021232818835414946 after 34 total iterations\n", - "Frame 53 done in 0.007693052291870117 with a final error of 0.00021897867554798722 after 26 total iterations\n", - "Frame 54 done in 0.008131027221679688 with a final error of 0.00021312685566954315 after 30 total iterations\n", - "Frame 55 done in 0.009644031524658203 with a final error of 0.0001913533196784556 after 74 total iterations\n", - "Frame 56 done in 0.008151054382324219 with a final error of 0.00019599241204559803 after 42 total iterations\n", - "Frame 57 done in 0.008423089981079102 with a final error of 0.00019177261856384575 after 56 total iterations\n", - "Frame 58 done in 0.00931406021118164 with a final error of 0.00019720607087947428 after 65 total iterations\n", - "Frame 59 done in 0.007879972457885742 with a final error of 0.00018737275968305767 after 42 total iterations\n", - "Frame 60 done in 0.009092092514038086 with a final error of 0.00019243033602833748 after 47 total iterations\n", - "Frame 61 done in 0.007643938064575195 with a final error of 0.00018148341041523963 after 26 total iterations\n", - "Frame 62 done in 0.008646965026855469 with a final error of 0.00018573150737211108 after 30 total iterations\n", - "Frame 63 done in 0.008934974670410156 with a final error of 0.00017845939146354795 after 78 total iterations\n", - "Frame 64 done in 0.008279800415039062 with a final error of 0.00017838054918684065 after 53 total iterations\n", - "Frame 65 done in 0.008005142211914062 with a final error of 0.00018562309560365975 after 48 total iterations\n", - "Frame 66 done in 0.00964212417602539 with a final error of 0.0001853967842180282 after 52 total iterations\n", - "Frame 67 done in 0.04330301284790039 with a final error of 0.00018459538114257157 after 52 total iterations\n", - "Frame 68 done in 0.018253087997436523 with a final error of 0.00018109922530129552 after 62 total iterations\n", - "Frame 69 done in 0.015548229217529297 with a final error of 0.00018112473480869085 after 48 total iterations\n", - "Frame 70 done in 0.027230024337768555 with a final error of 0.0001800417376216501 after 57 total iterations\n", - "Frame 71 done in 0.04690909385681152 with a final error of 0.00018089429067913443 after 52 total iterations\n", - "Frame 72 done in 0.013870954513549805 with a final error of 0.0001776902936398983 after 62 total iterations\n", - "Frame 73 done in 0.013472795486450195 with a final error of 0.00017797842156141996 after 48 total iterations\n", - "Frame 74 done in 0.010543107986450195 with a final error of 0.00017784986994229257 after 52 total iterations\n", - "Frame 75 done in 0.009834051132202148 with a final error of 0.00017741217743605375 after 52 total iterations\n", - "Frame 76 done in 0.012695074081420898 with a final error of 0.00017715073772706091 after 57 total iterations\n", - "Frame 77 done in 0.014528036117553711 with a final error of 0.00017740049224812537 after 52 total iterations\n", - "Frame 78 done in 0.011132001876831055 with a final error of 0.0001784365449566394 after 52 total iterations\n", - "Frame 79 done in 0.008728981018066406 with a final error of 0.00016629323363304138 after 44 total iterations\n", - "Frame 80 done in 0.008488178253173828 with a final error of 0.0001755586126819253 after 52 total iterations\n", - "Frame 81 done in 0.009618997573852539 with a final error of 0.00017636388656683266 after 52 total iterations\n", - "Frame 82 done in 0.009025812149047852 with a final error of 0.0001763203472364694 after 52 total iterations\n", - "Frame 83 done in 0.008356094360351562 with a final error of 0.0001765569904819131 after 52 total iterations\n", - "Frame 84 done in 0.009073972702026367 with a final error of 0.00017547589959576726 after 52 total iterations\n", - "Frame 85 done in 0.00989675521850586 with a final error of 0.00016998362843878567 after 67 total iterations\n", - "Frame 86 done in 0.008967161178588867 with a final error of 0.00017610051145311445 after 52 total iterations\n", - "Frame 87 done in 0.01088571548461914 with a final error of 0.00017729209503158927 after 52 total iterations\n", - "Frame 88 done in 0.009176254272460938 with a final error of 0.0001750764058670029 after 60 total iterations\n", - "Frame 89 done in 0.00911092758178711 with a final error of 0.0001754324766807258 after 52 total iterations\n", - "Frame 90 done in 0.008365869522094727 with a final error of 0.0001755307603161782 after 57 total iterations\n", - "Frame 91 done in 0.008614301681518555 with a final error of 0.00016227943706326187 after 64 total iterations\n", - "Frame 92 done in 0.00973367691040039 with a final error of 0.0001697868574410677 after 72 total iterations\n", - "Frame 93 done in 0.009016990661621094 with a final error of 0.0001649836340220645 after 58 total iterations\n", - "Frame 94 done in 0.009406089782714844 with a final error of 0.0001781877945177257 after 52 total iterations\n", - "Frame 95 done in 0.008995771408081055 with a final error of 0.0001667331380303949 after 56 total iterations\n", - "Frame 96 done in 0.008435964584350586 with a final error of 0.00016314201639033854 after 42 total iterations\n", - "Frame 97 done in 0.00882411003112793 with a final error of 0.00015611584240105003 after 62 total iterations\n", - "Frame 98 done in 0.010257959365844727 with a final error of 0.00014955077494960278 after 73 total iterations\n", - "Frame 99 done in 0.00806117057800293 with a final error of 0.00013623724225908518 after 42 total iterations\n", - "Frame 100 done in 0.007997274398803711 with a final error of 0.0001398247404722497 after 42 total iterations\n", - "Frame 101 done in 0.009537935256958008 with a final error of 0.0001487021509092301 after 74 total iterations\n", - "Frame 102 done in 0.009736061096191406 with a final error of 0.00012579833855852485 after 70 total iterations\n", - "Frame 103 done in 0.008860111236572266 with a final error of 0.00012894964311271906 after 42 total iterations\n", - "Frame 104 done in 0.008247613906860352 with a final error of 0.00013313358067534864 after 22 total iterations\n", - "Frame 105 done in 0.008156299591064453 with a final error of 0.0001248445187229663 after 38 total iterations\n", - "Frame 106 done in 0.008134841918945312 with a final error of 0.00012065257760696113 after 42 total iterations\n", - "Frame 107 done in 0.00888967514038086 with a final error of 0.00011326048115734011 after 61 total iterations\n", - "Frame 108 done in 0.008033990859985352 with a final error of 0.00012077094288542867 after 32 total iterations\n", - "Frame 109 done in 0.008647918701171875 with a final error of 0.00011772569996537641 after 52 total iterations\n", - "Frame 110 done in 0.0078051090240478516 with a final error of 0.00011478683882160112 after 26 total iterations\n", - "Frame 111 done in 0.008230209350585938 with a final error of 0.00011508709576446563 after 22 total iterations\n", - "Frame 112 done in 0.0072479248046875 with a final error of 0.000113593865535222 after 22 total iterations\n", - "Frame 113 done in 0.00838017463684082 with a final error of 0.00011020583042409271 after 42 total iterations\n", - "Frame 114 done in 0.00847482681274414 with a final error of 0.00011194223770871758 after 54 total iterations\n", - "Frame 115 done in 0.0075910091400146484 with a final error of 0.00013785480405203998 after 30 total iterations\n", - "Frame 116 done in 0.008734941482543945 with a final error of 0.00011944908328587189 after 76 total iterations\n", - "Frame 117 done in 0.009011268615722656 with a final error of 0.00012138282181695104 after 76 total iterations\n", - "Frame 118 done in 0.007910966873168945 with a final error of 0.0001286689512198791 after 43 total iterations\n", - "Frame 119 done in 0.008069992065429688 with a final error of 0.0001394054852426052 after 40 total iterations\n", - "Frame 120 done in 0.00793910026550293 with a final error of 0.0001338653964921832 after 38 total iterations\n", - "Frame 121 done in 0.008393049240112305 with a final error of 0.00012954341946169734 after 59 total iterations\n", - "Frame 122 done in 0.008821964263916016 with a final error of 0.00013936733012087643 after 49 total iterations\n", - "Frame 123 done in 0.00972294807434082 with a final error of 0.00012313760817050934 after 80 total iterations\n", - "Frame 124 done in 0.007848978042602539 with a final error of 0.00013093880261294544 after 42 total iterations\n", - "Frame 125 done in 0.008942127227783203 with a final error of 0.00012513213732745498 after 47 total iterations\n", - "Frame 126 done in 0.008135080337524414 with a final error of 0.0001236506795976311 after 42 total iterations\n", - "Frame 127 done in 0.009038925170898438 with a final error of 0.00012021779548376799 after 55 total iterations\n", - "Frame 128 done in 0.008078813552856445 with a final error of 0.00011618951248237863 after 42 total iterations\n", - "Frame 129 done in 0.007544994354248047 with a final error of 0.00011962026474066079 after 26 total iterations\n", - "Frame 130 done in 0.008113861083984375 with a final error of 0.00011823613021988422 after 42 total iterations\n", - "Frame 131 done in 0.00780797004699707 with a final error of 0.00012393042561598122 after 30 total iterations\n", - "Frame 132 done in 0.008178949356079102 with a final error of 0.00011336688476148993 after 34 total iterations\n", - "Frame 133 done in 0.008392333984375 with a final error of 0.00011593908129725605 after 52 total iterations\n", - "Frame 134 done in 0.007894754409790039 with a final error of 0.00011430709855630994 after 26 total iterations\n", - "Frame 135 done in 0.008986234664916992 with a final error of 0.00010783822654047981 after 34 total iterations\n", - "Frame 136 done in 0.00811910629272461 with a final error of 0.00011149686179123819 after 26 total iterations\n", - "Frame 137 done in 0.007426738739013672 with a final error of 0.0001057902118191123 after 26 total iterations\n", - "Frame 138 done in 0.007467031478881836 with a final error of 0.00011058943346142769 after 26 total iterations\n", - "Frame 139 done in 0.008271217346191406 with a final error of 0.00010522806405788288 after 42 total iterations\n", - "Frame 140 done in 0.007855892181396484 with a final error of 0.00010858122550416738 after 22 total iterations\n", - "Frame 141 done in 0.007681131362915039 with a final error of 0.00010742783342720941 after 22 total iterations\n", - "Frame 142 done in 0.009039878845214844 with a final error of 0.0001041362265823409 after 30 total iterations\n", - "Frame 143 done in 0.007602214813232422 with a final error of 0.00010468950495123863 after 22 total iterations\n", - "Frame 144 done in 0.008421897888183594 with a final error of 0.00010536648915149271 after 32 total iterations\n", - "Frame 145 done in 0.008027791976928711 with a final error of 0.00010329819633625448 after 44 total iterations\n", - "Frame 146 done in 0.008797168731689453 with a final error of 0.00011703932250384241 after 50 total iterations\n", - "Frame 147 done in 0.008730888366699219 with a final error of 0.00010891089914366603 after 42 total iterations\n", - "Frame 148 done in 0.008240222930908203 with a final error of 0.00011392253509256989 after 48 total iterations\n", - "Frame 149 done in 0.008463144302368164 with a final error of 0.00012162146595073864 after 42 total iterations\n", - "Frame 150 done in 0.008296966552734375 with a final error of 0.0001351432001683861 after 50 total iterations\n", - "Frame 151 done in 0.008161067962646484 with a final error of 0.00013164381380192935 after 51 total iterations\n", - "Frame 152 done in 0.008788108825683594 with a final error of 0.00014595982793252915 after 52 total iterations\n", - "Frame 153 done in 0.008028984069824219 with a final error of 0.0001358955487376079 after 44 total iterations\n", - "Frame 154 done in 0.009083032608032227 with a final error of 0.00013568022404797375 after 42 total iterations\n", - "Frame 155 done in 0.008081912994384766 with a final error of 0.00013453332940116525 after 42 total iterations\n", - "Frame 156 done in 0.008319854736328125 with a final error of 0.00013694919471163303 after 44 total iterations\n", - "Frame 157 done in 0.008079767227172852 with a final error of 0.0001360561727778986 after 42 total iterations\n", - "Frame 158 done in 0.008542060852050781 with a final error of 0.00013544701505452394 after 42 total iterations\n", - "Frame 159 done in 0.007704019546508789 with a final error of 0.00013693662185687572 after 44 total iterations\n", - "Frame 160 done in 0.008083820343017578 with a final error of 0.00014033007028046995 after 42 total iterations\n", - "Frame 161 done in 0.008275032043457031 with a final error of 0.0001423709181835875 after 42 total iterations\n", - "Frame 162 done in 0.007924079895019531 with a final error of 0.00014819615171290934 after 42 total iterations\n", - "Frame 163 done in 0.009279966354370117 with a final error of 0.00015266590344253927 after 81 total iterations\n", - "Frame 164 done in 0.007904052734375 with a final error of 0.00015295820776373148 after 46 total iterations\n", - "Frame 165 done in 0.00731205940246582 with a final error of 0.0001630938204471022 after 30 total iterations\n", - "Frame 166 done in 0.007570028305053711 with a final error of 0.00017217808635905385 after 34 total iterations\n", - "Frame 167 done in 0.008082866668701172 with a final error of 0.00018079976143781096 after 47 total iterations\n", - "Frame 168 done in 0.008037090301513672 with a final error of 0.00018696652841754258 after 42 total iterations\n", - "Frame 169 done in 0.0071849822998046875 with a final error of 0.00020055973436683416 after 26 total iterations\n", - "Frame 170 done in 0.008618831634521484 with a final error of 0.00019983868696726859 after 52 total iterations\n", - "Frame 171 done in 0.008283853530883789 with a final error of 0.0001969089498743415 after 42 total iterations\n", - "Frame 172 done in 0.008439064025878906 with a final error of 0.00020809678244404495 after 52 total iterations\n", - "Frame 173 done in 0.00834512710571289 with a final error of 0.00020343015785329044 after 48 total iterations\n", - "Frame 174 done in 0.008280038833618164 with a final error of 0.00020112001220695674 after 44 total iterations\n", - "Frame 175 done in 0.007710933685302734 with a final error of 0.0001909654529299587 after 42 total iterations\n", - "Frame 176 done in 0.010850191116333008 with a final error of 0.00018917140550911427 after 46 total iterations\n", - "Frame 177 done in 0.008221864700317383 with a final error of 0.00018377124797552824 after 44 total iterations\n", - "Frame 178 done in 0.008466243743896484 with a final error of 0.00017503337585367262 after 44 total iterations\n", - "Frame 179 done in 0.008395910263061523 with a final error of 0.00017861378728412092 after 52 total iterations\n", - "Frame 180 done in 0.008271932601928711 with a final error of 0.00016503850929439068 after 44 total iterations\n", - "Frame 181 done in 0.008458137512207031 with a final error of 0.0001630637707421556 after 46 total iterations\n", - "Frame 182 done in 0.01007699966430664 with a final error of 0.00015932071255519986 after 42 total iterations\n", - "Frame 183 done in 0.008311033248901367 with a final error of 0.00016066254465840757 after 46 total iterations\n", - "Frame 184 done in 0.0083770751953125 with a final error of 0.00015237396291922778 after 42 total iterations\n", - "Frame 185 done in 0.009113788604736328 with a final error of 0.00014858449867460877 after 72 total iterations\n", - "Frame 186 done in 0.008315324783325195 with a final error of 0.00015322709805332124 after 30 total iterations\n", - "Frame 187 done in 0.009078025817871094 with a final error of 0.00015148949751164764 after 78 total iterations\n", - "Frame 188 done in 0.010085105895996094 with a final error of 0.0001408519019605592 after 82 total iterations\n", - "Frame 189 done in 0.00985407829284668 with a final error of 0.0001396795705659315 after 85 total iterations\n", - "Frame 190 done in 0.00999593734741211 with a final error of 0.00012544594937935472 after 105 total iterations\n", - "Frame 191 done in 0.008527994155883789 with a final error of 0.00012224978127051145 after 44 total iterations\n", - "Frame 192 done in 0.0072879791259765625 with a final error of 0.00013231110642664135 after 22 total iterations\n", - "Frame 193 done in 0.008883953094482422 with a final error of 0.00013584342377725989 after 34 total iterations\n", - "Frame 194 done in 0.008044004440307617 with a final error of 0.00013136942288838327 after 42 total iterations\n", - "Frame 195 done in 0.007925033569335938 with a final error of 0.0001471546565880999 after 26 total iterations\n", - "Frame 196 done in 0.007321834564208984 with a final error of 0.00015781763067934662 after 22 total iterations\n", - "Frame 197 done in 0.008131980895996094 with a final error of 0.00016376873827539384 after 34 total iterations\n", - "Frame 198 done in 0.0076711177825927734 with a final error of 0.00016390002565458417 after 30 total iterations\n", - "Frame 199 done in 0.008466005325317383 with a final error of 0.000172117943293415 after 30 total iterations\n", - "Frame 200 done in 0.008284807205200195 with a final error of 0.00016825160128064454 after 48 total iterations\n", - "Frame 201 done in 0.00855708122253418 with a final error of 0.000155702669871971 after 42 total iterations\n", - "Frame 202 done in 0.008162975311279297 with a final error of 0.00015367215382866561 after 46 total iterations\n", - "Frame 203 done in 0.008405923843383789 with a final error of 0.0001556230999995023 after 48 total iterations\n", - "Frame 204 done in 0.0077860355377197266 with a final error of 0.0001382653135806322 after 42 total iterations\n", - "Frame 205 done in 0.008101701736450195 with a final error of 0.00013046537060290575 after 44 total iterations\n", - "Frame 206 done in 0.007986068725585938 with a final error of 0.00013556597696151584 after 46 total iterations\n", - "Frame 207 done in 0.01046299934387207 with a final error of 0.00012008046905975789 after 42 total iterations\n", - "Frame 208 done in 0.00840902328491211 with a final error of 0.0001190198672702536 after 44 total iterations\n", - "Frame 209 done in 0.008684158325195312 with a final error of 0.0001131940953200683 after 49 total iterations\n", - "Frame 210 done in 0.009488821029663086 with a final error of 0.00011795436148531735 after 50 total iterations\n", - "Frame 211 done in 0.0090179443359375 with a final error of 0.00010304387251380831 after 55 total iterations\n", - "Frame 212 done in 0.008313894271850586 with a final error of 0.00010786102211568505 after 48 total iterations\n", - "Frame 213 done in 0.009573936462402344 with a final error of 9.614279406378046e-05 after 55 total iterations\n", - "Frame 214 done in 0.00900125503540039 with a final error of 0.0001008580147754401 after 65 total iterations\n", - "Frame 215 done in 0.008671045303344727 with a final error of 8.594794053351507e-05 after 42 total iterations\n", - "Frame 216 done in 0.008276224136352539 with a final error of 8.29087512101978e-05 after 44 total iterations\n", - "Frame 217 done in 0.008238792419433594 with a final error of 8.082213025772944e-05 after 42 total iterations\n", - "Frame 218 done in 0.009845972061157227 with a final error of 8.127429464366287e-05 after 75 total iterations\n", - "Frame 219 done in 0.008308887481689453 with a final error of 8.709153917152435e-05 after 44 total iterations\n", - "Frame 220 done in 0.008285999298095703 with a final error of 8.922562119551003e-05 after 44 total iterations\n", - "Frame 221 done in 0.008208036422729492 with a final error of 8.888227603165433e-05 after 44 total iterations\n", - "Frame 222 done in 0.009393930435180664 with a final error of 9.175953891826794e-05 after 44 total iterations\n", - "Frame 223 done in 0.00870966911315918 with a final error of 9.338793461211026e-05 after 46 total iterations\n", - "Frame 224 done in 0.008315086364746094 with a final error of 9.203029912896454e-05 after 44 total iterations\n", - "Frame 225 done in 0.008696794509887695 with a final error of 9.10457456484437e-05 after 42 total iterations\n", - "Frame 226 done in 0.008382081985473633 with a final error of 9.151354606729001e-05 after 50 total iterations\n", - "Frame 227 done in 0.008314132690429688 with a final error of 8.899492968339473e-05 after 42 total iterations\n", - "Frame 228 done in 0.008032083511352539 with a final error of 8.82518506841734e-05 after 44 total iterations\n", - "Frame 229 done in 0.008252859115600586 with a final error of 0.00010119768558070064 after 50 total iterations\n", - "Frame 230 done in 0.008667230606079102 with a final error of 9.293346374761313e-05 after 42 total iterations\n", - "Frame 231 done in 0.008414983749389648 with a final error of 9.314873022958636e-05 after 42 total iterations\n", - "Frame 232 done in 0.008002758026123047 with a final error of 9.032231901073828e-05 after 42 total iterations\n", - "Frame 233 done in 0.008094072341918945 with a final error of 9.799032704904675e-05 after 48 total iterations\n", - "Frame 234 done in 0.008396148681640625 with a final error of 8.921799599193037e-05 after 46 total iterations\n", - "Frame 235 done in 0.008610963821411133 with a final error of 0.00010002778435591608 after 48 total iterations\n", - "Frame 236 done in 0.009813070297241211 with a final error of 9.263460378861055e-05 after 44 total iterations\n", - "Frame 237 done in 0.007994890213012695 with a final error of 9.292398317484185e-05 after 42 total iterations\n", - "Frame 238 done in 0.008295059204101562 with a final error of 9.685745317256078e-05 after 42 total iterations\n", - "Frame 239 done in 0.007863998413085938 with a final error of 9.724665869725868e-05 after 44 total iterations\n", - "Frame 240 done in 0.008409738540649414 with a final error of 9.889592183753848e-05 after 42 total iterations\n", - "Frame 241 done in 0.007940292358398438 with a final error of 9.847700130194426e-05 after 46 total iterations\n", - "Frame 242 done in 0.008528709411621094 with a final error of 0.00011156775872223079 after 52 total iterations\n", - "Frame 243 done in 0.00746917724609375 with a final error of 0.00011209663352929056 after 22 total iterations\n", - "Frame 244 done in 0.008198976516723633 with a final error of 0.00011967986210947856 after 52 total iterations\n", - "Frame 245 done in 0.00810098648071289 with a final error of 0.00011677241127472371 after 46 total iterations\n", - "Frame 246 done in 0.009249687194824219 with a final error of 0.00013164346455596387 after 44 total iterations\n", - "Frame 247 done in 0.007691144943237305 with a final error of 0.00015262141823768616 after 30 total iterations\n", - "Frame 248 done in 0.007747173309326172 with a final error of 0.0001616448862478137 after 35 total iterations\n", - "Frame 249 done in 0.007748842239379883 with a final error of 0.00022221062681637704 after 39 total iterations\n", - "Frame 250 done in 0.009033918380737305 with a final error of 0.00025771334185265005 after 68 total iterations\n", - "Mean error: 0.00016477103054057807\n", - "Standard deviation of error: 5.669892198056914e-05\n", - "Mean total iters: 54.39600372314453\n", - "Standard deviation of total iters: 108.66751861572266\n", - "starting offset optimization\n", - "Calibration iteration: 5/6\n", - "Pose Optimization:\n", - "Pose Optimization done in 2.1898281574249268\n", - "Frame 1 done in 0.05842995643615723 with a final error of 0.00039764540269970894 after 1660 total iterations\n", - "Frame 2 done in 0.022038936614990234 with a final error of 0.00030362128745764494 after 472 total iterations\n", - "Frame 3 done in 0.013525962829589844 with a final error of 0.00027314526960253716 after 211 total iterations\n", - "Frame 4 done in 0.009354114532470703 with a final error of 0.0002898478414863348 after 83 total iterations\n", - "Frame 5 done in 0.010592937469482422 with a final error of 0.000263255467871204 after 62 total iterations\n", - "Frame 6 done in 0.008552789688110352 with a final error of 0.00028112204745411873 after 47 total iterations\n", - "Frame 7 done in 0.009105205535888672 with a final error of 0.0002549827331677079 after 58 total iterations\n", - "Frame 8 done in 0.009030818939208984 with a final error of 0.0002546957693994045 after 42 total iterations\n", - "Frame 9 done in 0.007931947708129883 with a final error of 0.00025731162168085575 after 22 total iterations\n", - "Frame 10 done in 0.008150100708007812 with a final error of 0.0002488965983502567 after 38 total iterations\n", - "Frame 11 done in 0.008402109146118164 with a final error of 0.00025131000438705087 after 22 total iterations\n", - "Frame 12 done in 0.00793313980102539 with a final error of 0.0002389388537267223 after 34 total iterations\n", - "Frame 13 done in 0.007554769515991211 with a final error of 0.00024101624148897827 after 22 total iterations\n", - "Frame 14 done in 0.0077550411224365234 with a final error of 0.00023666591732762754 after 36 total iterations\n", - "Frame 15 done in 0.007603883743286133 with a final error of 0.00023149963817559183 after 22 total iterations\n", - "Frame 16 done in 0.009003877639770508 with a final error of 0.00022284711303655058 after 34 total iterations\n", - "Frame 17 done in 0.007992982864379883 with a final error of 0.00022677374363411218 after 22 total iterations\n", - "Frame 18 done in 0.00867009162902832 with a final error of 0.00021937198471277952 after 34 total iterations\n", - "Frame 19 done in 0.007874011993408203 with a final error of 0.00022312405053526163 after 22 total iterations\n", - "Frame 20 done in 0.008158206939697266 with a final error of 0.00022539189376402646 after 42 total iterations\n", - "Frame 21 done in 0.00912785530090332 with a final error of 0.00022935782908461988 after 22 total iterations\n", - "Frame 22 done in 0.0075359344482421875 with a final error of 0.00022022268967702985 after 34 total iterations\n", - "Frame 23 done in 0.007380962371826172 with a final error of 0.00022526193060912192 after 22 total iterations\n", - "Frame 24 done in 0.007882118225097656 with a final error of 0.0002197882131440565 after 34 total iterations\n", - "Frame 25 done in 0.007506132125854492 with a final error of 0.00022272112255450338 after 22 total iterations\n", - "Frame 26 done in 0.00758814811706543 with a final error of 0.0002168546780012548 after 36 total iterations\n", - "Frame 27 done in 0.007714033126831055 with a final error of 0.00022395694395527244 after 22 total iterations\n", - "Frame 28 done in 0.008012056350708008 with a final error of 0.00021976925199851394 after 38 total iterations\n", - "Frame 29 done in 0.008140087127685547 with a final error of 0.0002445891732349992 after 34 total iterations\n", - "Frame 30 done in 0.008668899536132812 with a final error of 0.0002756236935965717 after 68 total iterations\n", - "Frame 31 done in 0.008485794067382812 with a final error of 0.0002783298259600997 after 53 total iterations\n", - "Frame 32 done in 0.008439064025878906 with a final error of 0.00025431494577787817 after 62 total iterations\n", - "Frame 33 done in 0.008366107940673828 with a final error of 0.00023199216229841113 after 47 total iterations\n", - "Frame 34 done in 0.00890493392944336 with a final error of 0.0002432045730529353 after 47 total iterations\n", - "Frame 35 done in 0.008632898330688477 with a final error of 0.0002447181032039225 after 57 total iterations\n", - "Frame 36 done in 0.00844430923461914 with a final error of 0.0002492520725354552 after 63 total iterations\n", - "Frame 37 done in 0.008652687072753906 with a final error of 0.0002523026196286082 after 42 total iterations\n", - "Frame 38 done in 0.008839130401611328 with a final error of 0.0002483100106474012 after 64 total iterations\n", - "Frame 39 done in 0.00906825065612793 with a final error of 0.00022370748047251254 after 63 total iterations\n", - "Frame 40 done in 0.008573055267333984 with a final error of 0.0002294253499712795 after 50 total iterations\n", - "Frame 41 done in 0.009618997573852539 with a final error of 0.00023101767874322832 after 49 total iterations\n", - "Frame 42 done in 0.009862899780273438 with a final error of 0.00021801312686875463 after 50 total iterations\n", - "Frame 43 done in 0.012085199356079102 with a final error of 0.00021744992409367114 after 52 total iterations\n", - "Frame 44 done in 0.009398937225341797 with a final error of 0.0002057930687442422 after 40 total iterations\n", - "Frame 45 done in 0.008469104766845703 with a final error of 0.0002093466609949246 after 22 total iterations\n", - "Frame 46 done in 0.008933782577514648 with a final error of 0.00019507919205352664 after 34 total iterations\n", - "Frame 47 done in 0.008610963821411133 with a final error of 0.00020070007303729653 after 57 total iterations\n", - "Frame 48 done in 0.008747100830078125 with a final error of 0.00019745720783248544 after 50 total iterations\n", - "Frame 49 done in 0.007710933685302734 with a final error of 0.00019476909074001014 after 34 total iterations\n", - "Frame 50 done in 0.009853124618530273 with a final error of 0.00018340969108976424 after 52 total iterations\n", - "Frame 51 done in 0.008321046829223633 with a final error of 0.00018506424385122955 after 38 total iterations\n", - "Frame 52 done in 0.009296894073486328 with a final error of 0.0001920895156217739 after 34 total iterations\n", - "Frame 53 done in 0.007653236389160156 with a final error of 0.0001929999707499519 after 22 total iterations\n", - "Frame 54 done in 0.009131908416748047 with a final error of 0.00018085032934322953 after 42 total iterations\n", - "Frame 55 done in 0.007351875305175781 with a final error of 0.0001835422299336642 after 22 total iterations\n", - "Frame 56 done in 0.008779048919677734 with a final error of 0.000181592971784994 after 34 total iterations\n", - "Frame 57 done in 0.008515119552612305 with a final error of 0.00017497762746643275 after 42 total iterations\n", - "Frame 58 done in 0.008515119552612305 with a final error of 0.00017348094843328 after 42 total iterations\n", - "Frame 59 done in 0.007980108261108398 with a final error of 0.0001697172992862761 after 44 total iterations\n", - "Frame 60 done in 0.009234905242919922 with a final error of 0.00016744149615988135 after 44 total iterations\n", - "Frame 61 done in 0.00892186164855957 with a final error of 0.00015929940855130553 after 67 total iterations\n", - "Frame 62 done in 0.008066892623901367 with a final error of 0.0001596780784893781 after 42 total iterations\n", - "Frame 63 done in 0.009546995162963867 with a final error of 0.00016045363736338913 after 44 total iterations\n", - "Frame 64 done in 0.009505033493041992 with a final error of 0.00016091174620669335 after 42 total iterations\n", - "Frame 65 done in 0.008399009704589844 with a final error of 0.00015857913240324706 after 44 total iterations\n", - "Frame 66 done in 0.008244037628173828 with a final error of 0.00015875042299740016 after 42 total iterations\n", - "Frame 67 done in 0.008989095687866211 with a final error of 0.00015702846576459706 after 44 total iterations\n", - "Frame 68 done in 0.007909059524536133 with a final error of 0.00015580348554067314 after 42 total iterations\n", - "Frame 69 done in 0.00867605209350586 with a final error of 0.0001547795836813748 after 44 total iterations\n", - "Frame 70 done in 0.00800013542175293 with a final error of 0.00015385040023829788 after 42 total iterations\n", - "Frame 71 done in 0.007867813110351562 with a final error of 0.00015344202984124422 after 44 total iterations\n", - "Frame 72 done in 0.007950067520141602 with a final error of 0.00015375917428173125 after 42 total iterations\n", - "Frame 73 done in 0.008002042770385742 with a final error of 0.0001536322815809399 after 44 total iterations\n", - "Frame 74 done in 0.007948160171508789 with a final error of 0.00015298686048481613 after 44 total iterations\n", - "Frame 75 done in 0.00829315185546875 with a final error of 0.00015208660624921322 after 44 total iterations\n", - "Frame 76 done in 0.008399724960327148 with a final error of 0.0001528884458821267 after 44 total iterations\n", - "Frame 77 done in 0.007982969284057617 with a final error of 0.00015297206118702888 after 44 total iterations\n", - "Frame 78 done in 0.008093118667602539 with a final error of 0.00015445900498889387 after 44 total iterations\n", - "Frame 79 done in 0.010250091552734375 with a final error of 0.0001530176668893546 after 44 total iterations\n", - "Frame 80 done in 0.008252859115600586 with a final error of 0.0001533965696580708 after 44 total iterations\n", - "Frame 81 done in 0.008560895919799805 with a final error of 0.00015298105427064002 after 44 total iterations\n", - "Frame 82 done in 0.008109092712402344 with a final error of 0.0001523915125289932 after 44 total iterations\n", - "Frame 83 done in 0.008415937423706055 with a final error of 0.00015302271640393883 after 44 total iterations\n", - "Frame 84 done in 0.0081329345703125 with a final error of 0.00015241646906360984 after 44 total iterations\n", - "Frame 85 done in 0.008327245712280273 with a final error of 0.00015320535749197006 after 44 total iterations\n", - "Frame 86 done in 0.008332967758178711 with a final error of 0.00015349677414633334 after 44 total iterations\n", - "Frame 87 done in 0.008531332015991211 with a final error of 0.00015253333549480885 after 44 total iterations\n", - "Frame 88 done in 0.008418798446655273 with a final error of 0.00015209974662866443 after 44 total iterations\n", - "Frame 89 done in 0.007978200912475586 with a final error of 0.00015123412595130503 after 44 total iterations\n", - "Frame 90 done in 0.008220911026000977 with a final error of 0.00015172711573541164 after 57 total iterations\n", - "Frame 91 done in 0.007992029190063477 with a final error of 0.00015310183516703546 after 42 total iterations\n", - "Frame 92 done in 0.007734060287475586 with a final error of 0.00015378676471300423 after 47 total iterations\n", - "Frame 93 done in 0.008083105087280273 with a final error of 0.00015356935909949243 after 57 total iterations\n", - "Frame 94 done in 0.007765054702758789 with a final error of 0.00015487853670492768 after 42 total iterations\n", - "Frame 95 done in 0.007643938064575195 with a final error of 0.00015338588855229318 after 42 total iterations\n", - "Frame 96 done in 0.008905172348022461 with a final error of 0.0001491482398705557 after 44 total iterations\n", - "Frame 97 done in 0.008227109909057617 with a final error of 0.00015509819786529988 after 50 total iterations\n", - "Frame 98 done in 0.007963180541992188 with a final error of 0.0001402364287059754 after 42 total iterations\n", - "Frame 99 done in 0.007493019104003906 with a final error of 0.00012836640235036612 after 26 total iterations\n", - "Frame 100 done in 0.008784055709838867 with a final error of 0.00013324602332431823 after 40 total iterations\n", - "Frame 101 done in 0.009206056594848633 with a final error of 0.00013410602696239948 after 42 total iterations\n", - "Frame 102 done in 0.007750034332275391 with a final error of 0.0001440110499970615 after 22 total iterations\n", - "Frame 103 done in 0.010604143142700195 with a final error of 0.00013537824270315468 after 52 total iterations\n", - "Frame 104 done in 0.008096933364868164 with a final error of 0.00013622778351418674 after 32 total iterations\n", - "Frame 105 done in 0.007885932922363281 with a final error of 0.0001287280465476215 after 37 total iterations\n", - "Frame 106 done in 0.007941007614135742 with a final error of 0.00011871937022078782 after 42 total iterations\n", - "Frame 107 done in 0.007357120513916016 with a final error of 0.00012068921932950616 after 22 total iterations\n", - "Frame 108 done in 0.009228944778442383 with a final error of 0.00011235659621888772 after 52 total iterations\n", - "Frame 109 done in 0.009902238845825195 with a final error of 0.00010948260023724288 after 59 total iterations\n", - "Frame 110 done in 0.008491992950439453 with a final error of 0.00010562686657067388 after 42 total iterations\n", - "Frame 111 done in 0.008762121200561523 with a final error of 0.00011522092972882092 after 48 total iterations\n", - "Frame 112 done in 0.008430719375610352 with a final error of 0.00010353774268878624 after 47 total iterations\n", - "Frame 113 done in 0.009490966796875 with a final error of 9.943551413016394e-05 after 88 total iterations\n", - "Frame 114 done in 0.0083770751953125 with a final error of 0.00010739055869635195 after 49 total iterations\n", - "Frame 115 done in 0.009961128234863281 with a final error of 0.00011207913485122845 after 57 total iterations\n", - "Frame 116 done in 0.008803129196166992 with a final error of 0.0001227201137226075 after 59 total iterations\n", - "Frame 117 done in 0.008333683013916016 with a final error of 0.00011837082274723798 after 52 total iterations\n", - "Frame 118 done in 0.007884025573730469 with a final error of 0.00012197781325085089 after 40 total iterations\n", - "Frame 119 done in 0.00923919677734375 with a final error of 0.00016323702584486455 after 60 total iterations\n", - "Frame 120 done in 0.00815892219543457 with a final error of 0.0001347465586150065 after 44 total iterations\n", - "Frame 121 done in 0.008002042770385742 with a final error of 0.00013837445294484496 after 38 total iterations\n", - "Frame 122 done in 0.00792074203491211 with a final error of 0.0001401686604367569 after 44 total iterations\n", - "Frame 123 done in 0.009181976318359375 with a final error of 0.0001358614390483126 after 45 total iterations\n", - "Frame 124 done in 0.00846409797668457 with a final error of 0.0001380149187752977 after 34 total iterations\n", - "Frame 125 done in 0.008128643035888672 with a final error of 0.0001306918275076896 after 42 total iterations\n", - "Frame 126 done in 0.009148120880126953 with a final error of 0.00011557695688679814 after 77 total iterations\n", - "Frame 127 done in 0.00838780403137207 with a final error of 0.00011910601460840553 after 42 total iterations\n", - "Frame 128 done in 0.008735179901123047 with a final error of 0.0001247290929313749 after 44 total iterations\n", - "Frame 129 done in 0.007988929748535156 with a final error of 0.00011642901517916471 after 43 total iterations\n", - "Frame 130 done in 0.009514093399047852 with a final error of 0.0001074203391908668 after 90 total iterations\n", - "Frame 131 done in 0.007443904876708984 with a final error of 0.00011829454160761088 after 31 total iterations\n", - "Frame 132 done in 0.007938146591186523 with a final error of 0.00010630341421347111 after 49 total iterations\n", - "Frame 133 done in 0.007073879241943359 with a final error of 0.0001111524470616132 after 22 total iterations\n", - "Frame 134 done in 0.007798194885253906 with a final error of 0.00010458676842972636 after 44 total iterations\n", - "Frame 135 done in 0.009538888931274414 with a final error of 0.0001031225619954057 after 42 total iterations\n", - "Frame 136 done in 0.008586883544921875 with a final error of 0.00010090360592585057 after 53 total iterations\n", - "Frame 137 done in 0.008018016815185547 with a final error of 0.00010010076221078634 after 46 total iterations\n", - "Frame 138 done in 0.007772922515869141 with a final error of 9.944984776666388e-05 after 44 total iterations\n", - "Frame 139 done in 0.008387088775634766 with a final error of 9.978481102734804e-05 after 42 total iterations\n", - "Frame 140 done in 0.007942914962768555 with a final error of 9.710721496958286e-05 after 42 total iterations\n", - "Frame 141 done in 0.009181976318359375 with a final error of 9.617373871151358e-05 after 42 total iterations\n", - "Frame 142 done in 0.007912874221801758 with a final error of 9.322435653302819e-05 after 44 total iterations\n", - "Frame 143 done in 0.008651018142700195 with a final error of 9.321657125838101e-05 after 42 total iterations\n", - "Frame 144 done in 0.008054018020629883 with a final error of 9.293099719798192e-05 after 42 total iterations\n", - "Frame 145 done in 0.007969856262207031 with a final error of 9.432804654352367e-05 after 42 total iterations\n", - "Frame 146 done in 0.007884025573730469 with a final error of 9.837927791522816e-05 after 42 total iterations\n", - "Frame 147 done in 0.00945591926574707 with a final error of 0.00010122622916242108 after 81 total iterations\n", - "Frame 148 done in 0.007843017578125 with a final error of 0.00010465588275110349 after 42 total iterations\n", - "Frame 149 done in 0.008726119995117188 with a final error of 0.0001129155934904702 after 44 total iterations\n", - "Frame 150 done in 0.008002758026123047 with a final error of 0.00011638140131253749 after 44 total iterations\n", - "Frame 151 done in 0.009071111679077148 with a final error of 0.00012432794028427452 after 44 total iterations\n", - "Frame 152 done in 0.008246898651123047 with a final error of 0.00012892096128780395 after 42 total iterations\n", - "Frame 153 done in 0.0090179443359375 with a final error of 0.00012958742445334792 after 44 total iterations\n", - "Frame 154 done in 0.00784921646118164 with a final error of 0.0001289482752326876 after 44 total iterations\n", - "Frame 155 done in 0.008862972259521484 with a final error of 0.00012873351806774735 after 44 total iterations\n", - "Frame 156 done in 0.008324861526489258 with a final error of 0.00012926457566209137 after 59 total iterations\n", - "Frame 157 done in 0.008359909057617188 with a final error of 0.00012857341789640486 after 62 total iterations\n", - "Frame 158 done in 0.0077822208404541016 with a final error of 0.0001287767809117213 after 44 total iterations\n", - "Frame 159 done in 0.009112834930419922 with a final error of 0.00012716195487882942 after 72 total iterations\n", - "Frame 160 done in 0.007861137390136719 with a final error of 0.00013298170233611017 after 42 total iterations\n", - "Frame 161 done in 0.008435249328613281 with a final error of 0.00014386625844053924 after 44 total iterations\n", - "Frame 162 done in 0.007856130599975586 with a final error of 0.00013830073294229805 after 42 total iterations\n", - "Frame 163 done in 0.008761882781982422 with a final error of 0.0001479644706705585 after 66 total iterations\n", - "Frame 164 done in 0.009584188461303711 with a final error of 0.00014713805285282433 after 44 total iterations\n", - "Frame 165 done in 0.008168935775756836 with a final error of 0.0001576234062667936 after 42 total iterations\n", - "Frame 166 done in 0.007866859436035156 with a final error of 0.00016708440671209246 after 42 total iterations\n", - "Frame 167 done in 0.00873422622680664 with a final error of 0.00017215665138792247 after 47 total iterations\n", - "Frame 168 done in 0.0075109004974365234 with a final error of 0.00018615328008309007 after 22 total iterations\n", - "Frame 169 done in 0.0076138973236083984 with a final error of 0.00019527075346559286 after 26 total iterations\n", - "Frame 170 done in 0.007822990417480469 with a final error of 0.00018715811893343925 after 42 total iterations\n", - "Frame 171 done in 0.00833892822265625 with a final error of 0.00019380975572858006 after 42 total iterations\n", - "Frame 172 done in 0.00799417495727539 with a final error of 0.00019232208433095366 after 55 total iterations\n", - "Frame 173 done in 0.007914066314697266 with a final error of 0.00019619679369498044 after 44 total iterations\n", - "Frame 174 done in 0.0077838897705078125 with a final error of 0.00019691184570547193 after 42 total iterations\n", - "Frame 175 done in 0.008081912994384766 with a final error of 0.00018792344781104475 after 44 total iterations\n", - "Frame 176 done in 0.007776975631713867 with a final error of 0.00018563526100479066 after 42 total iterations\n", - "Frame 177 done in 0.008841991424560547 with a final error of 0.0001914354070322588 after 62 total iterations\n", - "Frame 178 done in 0.008275985717773438 with a final error of 0.00017200982256326824 after 44 total iterations\n", - "Frame 179 done in 0.00863790512084961 with a final error of 0.00017295227735303342 after 64 total iterations\n", - "Frame 180 done in 0.007784128189086914 with a final error of 0.00016120502550620586 after 44 total iterations\n", - "Frame 181 done in 0.01036691665649414 with a final error of 0.00015458153211511672 after 98 total iterations\n", - "Frame 182 done in 0.008266925811767578 with a final error of 0.00015468246419914067 after 42 total iterations\n", - "Frame 183 done in 0.008491992950439453 with a final error of 0.00015558642917312682 after 34 total iterations\n", - "Frame 184 done in 0.008009910583496094 with a final error of 0.00014575387467630208 after 30 total iterations\n", - "Frame 185 done in 0.007632017135620117 with a final error of 0.00014699879102408886 after 34 total iterations\n", - "Frame 186 done in 0.007539033889770508 with a final error of 0.00014635318075306714 after 30 total iterations\n", - "Frame 187 done in 0.00912618637084961 with a final error of 0.00013302601291798055 after 80 total iterations\n", - "Frame 188 done in 0.007963895797729492 with a final error of 0.00013922371726948768 after 52 total iterations\n", - "Frame 189 done in 0.008507966995239258 with a final error of 0.00013579137157648802 after 34 total iterations\n", - "Frame 190 done in 0.01089620590209961 with a final error of 0.00012476716074161232 after 113 total iterations\n", - "Frame 191 done in 0.009093761444091797 with a final error of 0.00011919924872927368 after 54 total iterations\n", - "Frame 192 done in 0.00809025764465332 with a final error of 0.00012429888010956347 after 42 total iterations\n", - "Frame 193 done in 0.009564876556396484 with a final error of 0.00012681842781603336 after 52 total iterations\n", - "Frame 194 done in 0.009336709976196289 with a final error of 0.0001243046426679939 after 55 total iterations\n", - "Frame 195 done in 0.009742021560668945 with a final error of 0.00014101179840508848 after 80 total iterations\n", - "Frame 196 done in 0.008089065551757812 with a final error of 0.00014557159738615155 after 44 total iterations\n", - "Frame 197 done in 0.007852792739868164 with a final error of 0.0001486539258621633 after 42 total iterations\n", - "Frame 198 done in 0.009158134460449219 with a final error of 0.0001569322048453614 after 38 total iterations\n", - "Frame 199 done in 0.008511066436767578 with a final error of 0.00015585319488309324 after 30 total iterations\n", - "Frame 200 done in 0.008603811264038086 with a final error of 0.00015304103726521134 after 22 total iterations\n", - "Frame 201 done in 0.008449077606201172 with a final error of 0.00015194086881820112 after 40 total iterations\n", - "Frame 202 done in 0.009553909301757812 with a final error of 0.00015130446990951896 after 22 total iterations\n", - "Frame 203 done in 0.007758140563964844 with a final error of 0.0001396503794239834 after 30 total iterations\n", - "Frame 204 done in 0.0076029300689697266 with a final error of 0.0001390322868246585 after 22 total iterations\n", - "Frame 205 done in 0.008213996887207031 with a final error of 0.00012686777336057276 after 48 total iterations\n", - "Frame 206 done in 0.008831977844238281 with a final error of 0.00011978039401583374 after 47 total iterations\n", - "Frame 207 done in 0.008080005645751953 with a final error of 0.00011731111590052024 after 42 total iterations\n", - "Frame 208 done in 0.009491920471191406 with a final error of 0.00011640015873126686 after 46 total iterations\n", - "Frame 209 done in 0.008383989334106445 with a final error of 0.00011037052900064737 after 44 total iterations\n", - "Frame 210 done in 0.009680032730102539 with a final error of 0.00010459193435963243 after 55 total iterations\n", - "Frame 211 done in 0.008913040161132812 with a final error of 9.969314123736694e-05 after 55 total iterations\n", - "Frame 212 done in 0.008380889892578125 with a final error of 0.00010428005771245807 after 50 total iterations\n", - "Frame 213 done in 0.00897526741027832 with a final error of 9.280647645937279e-05 after 48 total iterations\n", - "Frame 214 done in 0.009818792343139648 with a final error of 8.81611995282583e-05 after 77 total iterations\n", - "Frame 215 done in 0.008015155792236328 with a final error of 8.195235568564385e-05 after 42 total iterations\n", - "Frame 216 done in 0.008178949356079102 with a final error of 7.823162013664842e-05 after 44 total iterations\n", - "Frame 217 done in 0.008580207824707031 with a final error of 7.616294897161424e-05 after 42 total iterations\n", - "Frame 218 done in 0.00816798210144043 with a final error of 7.979978545336053e-05 after 46 total iterations\n", - "Frame 219 done in 0.008059978485107422 with a final error of 8.391372102778405e-05 after 44 total iterations\n", - "Frame 220 done in 0.008116960525512695 with a final error of 9.445085015613586e-05 after 48 total iterations\n", - "Frame 221 done in 0.007956981658935547 with a final error of 8.50875221658498e-05 after 44 total iterations\n", - "Frame 222 done in 0.008141040802001953 with a final error of 8.765100210439414e-05 after 44 total iterations\n", - "Frame 223 done in 0.008404016494750977 with a final error of 8.920984691940248e-05 after 44 total iterations\n", - "Frame 224 done in 0.00812387466430664 with a final error of 8.776369213592261e-05 after 44 total iterations\n", - "Frame 225 done in 0.007822990417480469 with a final error of 8.8302738731727e-05 after 44 total iterations\n", - "Frame 226 done in 0.008092880249023438 with a final error of 8.722604252398014e-05 after 42 total iterations\n", - "Frame 227 done in 0.008455753326416016 with a final error of 8.586855255998671e-05 after 44 total iterations\n", - "Frame 228 done in 0.008907079696655273 with a final error of 8.467494626529515e-05 after 75 total iterations\n", - "Frame 229 done in 0.008061885833740234 with a final error of 9.645932004787028e-05 after 44 total iterations\n", - "Frame 230 done in 0.008217096328735352 with a final error of 8.932142372941598e-05 after 42 total iterations\n", - "Frame 231 done in 0.008765935897827148 with a final error of 9.714087354950607e-05 after 52 total iterations\n", - "Frame 232 done in 0.008552789688110352 with a final error of 8.31982761155814e-05 after 51 total iterations\n", - "Frame 233 done in 0.009127140045166016 with a final error of 8.279048779513687e-05 after 46 total iterations\n", - "Frame 234 done in 0.007886171340942383 with a final error of 8.396596240345389e-05 after 42 total iterations\n", - "Frame 235 done in 0.007888078689575195 with a final error of 8.550106576876715e-05 after 42 total iterations\n", - "Frame 236 done in 0.007820844650268555 with a final error of 8.875507046468556e-05 after 42 total iterations\n", - "Frame 237 done in 0.008064985275268555 with a final error of 8.921656262828037e-05 after 42 total iterations\n", - "Frame 238 done in 0.009819746017456055 with a final error of 9.199248597724363e-05 after 71 total iterations\n", - "Frame 239 done in 0.010006904602050781 with a final error of 9.495900303591043e-05 after 83 total iterations\n", - "Frame 240 done in 0.008343935012817383 with a final error of 0.00010498647316126153 after 57 total iterations\n", - "Frame 241 done in 0.008092880249023438 with a final error of 9.430612408323213e-05 after 44 total iterations\n", - "Frame 242 done in 0.008466958999633789 with a final error of 9.843611042015254e-05 after 44 total iterations\n", - "Frame 243 done in 0.007893085479736328 with a final error of 0.0001040442002704367 after 42 total iterations\n", - "Frame 244 done in 0.00791025161743164 with a final error of 0.00010783815378090367 after 42 total iterations\n", - "Frame 245 done in 0.007846832275390625 with a final error of 0.00011446455027908087 after 42 total iterations\n", - "Frame 246 done in 0.008030891418457031 with a final error of 0.00013686118472833186 after 22 total iterations\n", - "Frame 247 done in 0.009298086166381836 with a final error of 0.00014836022455710918 after 42 total iterations\n", - "Frame 248 done in 0.010322093963623047 with a final error of 0.00015455999528057873 after 73 total iterations\n", - "Frame 249 done in 0.010977745056152344 with a final error of 0.00019795936532318592 after 65 total iterations\n", - "Frame 250 done in 0.007717132568359375 with a final error of 0.0002483797143213451 after 26 total iterations\n", - "Mean error: 0.00015430057828780264\n", - "Standard deviation of error: 5.3150844905758277e-05\n", - "Mean total iters: 54.00800323486328\n", - "Standard deviation of total iters: 106.671142578125\n", - "starting offset optimization\n", - "Calibration iteration: 6/6\n", - "Pose Optimization:\n", - "Pose Optimization done in 2.1901252269744873\n", - "Frame 1 done in 0.06116819381713867 with a final error of 0.0003940280294045806 after 1677 total iterations\n", - "Frame 2 done in 0.023550987243652344 with a final error of 0.00029670633375644684 after 476 total iterations\n", - "Frame 3 done in 0.01365208625793457 with a final error of 0.0002690421533770859 after 205 total iterations\n", - "Frame 4 done in 0.00996088981628418 with a final error of 0.0002777020854409784 after 90 total iterations\n", - "Frame 5 done in 0.008831024169921875 with a final error of 0.00032470066798850894 after 55 total iterations\n", - "Frame 6 done in 0.009380102157592773 with a final error of 0.0002543749287724495 after 77 total iterations\n", - "Frame 7 done in 0.008851051330566406 with a final error of 0.0002480606781318784 after 65 total iterations\n", - "Frame 8 done in 0.008077144622802734 with a final error of 0.0002451388572808355 after 42 total iterations\n", - "Frame 9 done in 0.008475780487060547 with a final error of 0.00024070717336144298 after 42 total iterations\n", - "Frame 10 done in 0.008337974548339844 with a final error of 0.0002392075111856684 after 42 total iterations\n", - "Frame 11 done in 0.008252143859863281 with a final error of 0.00023569527547806501 after 42 total iterations\n", - "Frame 12 done in 0.009006738662719727 with a final error of 0.00023120107653085142 after 42 total iterations\n", - "Frame 13 done in 0.008646965026855469 with a final error of 0.00022814606199972332 after 42 total iterations\n", - "Frame 14 done in 0.007803201675415039 with a final error of 0.0002250745747005567 after 42 total iterations\n", - "Frame 15 done in 0.008769035339355469 with a final error of 0.00022124878887552768 after 42 total iterations\n", - "Frame 16 done in 0.008260011672973633 with a final error of 0.00021944401669315994 after 42 total iterations\n", - "Frame 17 done in 0.009704828262329102 with a final error of 0.000217811917536892 after 42 total iterations\n", - "Frame 18 done in 0.008507013320922852 with a final error of 0.00021671902504749596 after 42 total iterations\n", - "Frame 19 done in 0.008033990859985352 with a final error of 0.00021573346748482436 after 42 total iterations\n", - "Frame 20 done in 0.00881505012512207 with a final error of 0.00022916457965038717 after 22 total iterations\n", - "Frame 21 done in 0.007805824279785156 with a final error of 0.00022851635003462434 after 26 total iterations\n", - "Frame 22 done in 0.007990121841430664 with a final error of 0.000224488481762819 after 26 total iterations\n", - "Frame 23 done in 0.008608102798461914 with a final error of 0.0002202248142566532 after 30 total iterations\n", - "Frame 24 done in 0.00860285758972168 with a final error of 0.00022531374997925013 after 22 total iterations\n", - "Frame 25 done in 0.007932186126708984 with a final error of 0.00021950676455162466 after 26 total iterations\n", - "Frame 26 done in 0.007606029510498047 with a final error of 0.0002234663988929242 after 22 total iterations\n", - "Frame 27 done in 0.00782918930053711 with a final error of 0.00022650300525128841 after 26 total iterations\n", - "Frame 28 done in 0.007610797882080078 with a final error of 0.00022737291874364018 after 22 total iterations\n", - "Frame 29 done in 0.009814023971557617 with a final error of 0.0002425220445729792 after 79 total iterations\n", - "Frame 30 done in 0.008101940155029297 with a final error of 0.0002814257750287652 after 40 total iterations\n", - "Frame 31 done in 0.008755207061767578 with a final error of 0.00027064079768024385 after 60 total iterations\n", - "Frame 32 done in 0.01047515869140625 with a final error of 0.0002543244045227766 after 50 total iterations\n", - "Frame 33 done in 0.009222030639648438 with a final error of 0.00022698426619172096 after 65 total iterations\n", - "Frame 34 done in 0.008665800094604492 with a final error of 0.00023634047829546034 after 47 total iterations\n", - "Frame 35 done in 0.008733272552490234 with a final error of 0.00022265964071266353 after 65 total iterations\n", - "Frame 36 done in 0.008576631546020508 with a final error of 0.00022587286366615444 after 62 total iterations\n", - "Frame 37 done in 0.010000228881835938 with a final error of 0.00022465411166194826 after 65 total iterations\n", - "Frame 38 done in 0.008578062057495117 with a final error of 0.00022090887068770826 after 57 total iterations\n", - "Frame 39 done in 0.008521080017089844 with a final error of 0.00022008165251463652 after 52 total iterations\n", - "Frame 40 done in 0.00824594497680664 with a final error of 0.0002294132427778095 after 40 total iterations\n", - "Frame 41 done in 0.009048938751220703 with a final error of 0.00021888045012019575 after 52 total iterations\n", - "Frame 42 done in 0.00847315788269043 with a final error of 0.00019934179726988077 after 59 total iterations\n", - "Frame 43 done in 0.008433818817138672 with a final error of 0.00020174100063741207 after 59 total iterations\n", - "Frame 44 done in 0.008532047271728516 with a final error of 0.00019040945335291326 after 63 total iterations\n", - "Frame 45 done in 0.007952213287353516 with a final error of 0.0001908076083054766 after 40 total iterations\n", - "Frame 46 done in 0.009233951568603516 with a final error of 0.00016911534476093948 after 84 total iterations\n", - "Frame 47 done in 0.008654117584228516 with a final error of 0.00019136813352815807 after 52 total iterations\n", - "Frame 48 done in 0.007991790771484375 with a final error of 0.00018119094602297992 after 44 total iterations\n", - "Frame 49 done in 0.007489919662475586 with a final error of 0.00018214419833384454 after 30 total iterations\n", - "Frame 50 done in 0.010264158248901367 with a final error of 0.00016282935393974185 after 102 total iterations\n", - "Frame 51 done in 0.008888006210327148 with a final error of 0.00017122947610914707 after 72 total iterations\n", - "Frame 52 done in 0.009364128112792969 with a final error of 0.00016741185390856117 after 67 total iterations\n", - "Frame 53 done in 0.007630825042724609 with a final error of 0.00017850326548796147 after 22 total iterations\n", - "Frame 54 done in 0.00803518295288086 with a final error of 0.00017533276695758104 after 41 total iterations\n", - "Frame 55 done in 0.008059024810791016 with a final error of 0.00016886158846318722 after 26 total iterations\n", - "Frame 56 done in 0.007593870162963867 with a final error of 0.0001680431014392525 after 22 total iterations\n", - "Frame 57 done in 0.007415056228637695 with a final error of 0.0001684096932876855 after 22 total iterations\n", - "Frame 58 done in 0.008021831512451172 with a final error of 0.00016874916036613286 after 48 total iterations\n", - "Frame 59 done in 0.007266044616699219 with a final error of 0.0001581606629770249 after 26 total iterations\n", - "Frame 60 done in 0.008088827133178711 with a final error of 0.00016215619689319283 after 48 total iterations\n", - "Frame 61 done in 0.007901906967163086 with a final error of 0.00016012307605706155 after 48 total iterations\n", - "Frame 62 done in 0.008011102676391602 with a final error of 0.00015911232912912965 after 52 total iterations\n", - "Frame 63 done in 0.00820302963256836 with a final error of 0.00015183340292423964 after 44 total iterations\n", - "Frame 64 done in 0.008273124694824219 with a final error of 0.000151242216816172 after 44 total iterations\n", - "Frame 65 done in 0.007804155349731445 with a final error of 0.00014879865921102464 after 46 total iterations\n", - "Frame 66 done in 0.008035898208618164 with a final error of 0.00015201838687062263 after 57 total iterations\n", - "Frame 67 done in 0.007971048355102539 with a final error of 0.00015707436250522733 after 50 total iterations\n", - "Frame 68 done in 0.007853031158447266 with a final error of 0.0001552220492158085 after 52 total iterations\n", - "Frame 69 done in 0.008559942245483398 with a final error of 0.00014532802742905915 after 72 total iterations\n", - "Frame 70 done in 0.008275270462036133 with a final error of 0.00015573037671856582 after 52 total iterations\n", - "Frame 71 done in 0.00808572769165039 with a final error of 0.00015624451043549925 after 52 total iterations\n", - "Frame 72 done in 0.008929014205932617 with a final error of 0.0001487652480136603 after 67 total iterations\n", - "Frame 73 done in 0.008230209350585938 with a final error of 0.00015321557293646038 after 48 total iterations\n", - "Frame 74 done in 0.008047819137573242 with a final error of 0.00015375568182207644 after 52 total iterations\n", - "Frame 75 done in 0.008131980895996094 with a final error of 0.00015331371105276048 after 52 total iterations\n", - "Frame 76 done in 0.008307933807373047 with a final error of 0.00015359779354184866 after 55 total iterations\n", - "Frame 77 done in 0.008254051208496094 with a final error of 0.00015519795124419034 after 52 total iterations\n", - "Frame 78 done in 0.008395910263061523 with a final error of 0.00015660017379559577 after 52 total iterations\n", - "Frame 79 done in 0.009347200393676758 with a final error of 0.00015561518375761807 after 52 total iterations\n", - "Frame 80 done in 0.009243011474609375 with a final error of 0.0001544487604405731 after 57 total iterations\n", - "Frame 81 done in 0.009034156799316406 with a final error of 0.00015375291695818305 after 56 total iterations\n", - "Frame 82 done in 0.009029865264892578 with a final error of 0.00015427099424414337 after 52 total iterations\n", - "Frame 83 done in 0.009937286376953125 with a final error of 0.00015473368694074452 after 52 total iterations\n", - "Frame 84 done in 0.008810997009277344 with a final error of 0.00015424127923324704 after 52 total iterations\n", - "Frame 85 done in 0.008342742919921875 with a final error of 0.00015688096755184233 after 52 total iterations\n", - "Frame 86 done in 0.00879526138305664 with a final error of 0.00015588002861477435 after 52 total iterations\n", - "Frame 87 done in 0.009630918502807617 with a final error of 0.00015624574734829366 after 52 total iterations\n", - "Frame 88 done in 0.008604764938354492 with a final error of 0.00015502945461776108 after 52 total iterations\n", - "Frame 89 done in 0.008384943008422852 with a final error of 0.00015314518532250077 after 55 total iterations\n", - "Frame 90 done in 0.008393049240112305 with a final error of 0.0001545209379401058 after 52 total iterations\n", - "Frame 91 done in 0.00917506217956543 with a final error of 0.00015582179185003042 after 52 total iterations\n", - "Frame 92 done in 0.008267879486083984 with a final error of 0.00015583063941448927 after 52 total iterations\n", - "Frame 93 done in 0.008859872817993164 with a final error of 0.00015789156896062195 after 52 total iterations\n", - "Frame 94 done in 0.010442018508911133 with a final error of 0.00015612546121701598 after 62 total iterations\n", - "Frame 95 done in 0.008515119552612305 with a final error of 0.00014620216097682714 after 56 total iterations\n", - "Frame 96 done in 0.008792877197265625 with a final error of 0.00014376896433532238 after 44 total iterations\n", - "Frame 97 done in 0.008523941040039062 with a final error of 0.0001472787989769131 after 50 total iterations\n", - "Frame 98 done in 0.008853912353515625 with a final error of 0.00013308311463333666 after 70 total iterations\n", - "Frame 99 done in 0.008831024169921875 with a final error of 0.00012101098400307819 after 65 total iterations\n", - "Frame 100 done in 0.008002042770385742 with a final error of 0.0001222852006321773 after 42 total iterations\n", - "Frame 101 done in 0.008132219314575195 with a final error of 0.00012256429181434214 after 51 total iterations\n", - "Frame 102 done in 0.007666826248168945 with a final error of 0.00012004474410787225 after 40 total iterations\n", - "Frame 103 done in 0.009352922439575195 with a final error of 0.00011087804159615189 after 54 total iterations\n", - "Frame 104 done in 0.008800029754638672 with a final error of 0.00010130689042853191 after 72 total iterations\n", - "Frame 105 done in 0.008430004119873047 with a final error of 0.00010447351087350398 after 51 total iterations\n", - "Frame 106 done in 0.008796930313110352 with a final error of 0.00010125510743819177 after 42 total iterations\n", - "Frame 107 done in 0.007518768310546875 with a final error of 0.0001029811319313012 after 36 total iterations\n", - "Frame 108 done in 0.007111072540283203 with a final error of 0.00010679781553335488 after 22 total iterations\n", - "Frame 109 done in 0.007620096206665039 with a final error of 0.00010630283213686198 after 38 total iterations\n", - "Frame 110 done in 0.007788896560668945 with a final error of 9.879872959572822e-05 after 44 total iterations\n", - "Frame 111 done in 0.007839202880859375 with a final error of 9.973091073334217e-05 after 42 total iterations\n", - "Frame 112 done in 0.00944375991821289 with a final error of 9.337411029264331e-05 after 70 total iterations\n", - "Frame 113 done in 0.007576942443847656 with a final error of 0.00010294881940353662 after 26 total iterations\n", - "Frame 114 done in 0.009533882141113281 with a final error of 0.0001006016245810315 after 63 total iterations\n", - "Frame 115 done in 0.008358001708984375 with a final error of 0.00012419503764249384 after 30 total iterations\n", - "Frame 116 done in 0.009379148483276367 with a final error of 0.00012191148562123999 after 80 total iterations\n", - "Frame 117 done in 0.008894920349121094 with a final error of 0.00013714533997699618 after 44 total iterations\n", - "Frame 118 done in 0.009361028671264648 with a final error of 0.00013248328468762338 after 57 total iterations\n", - "Frame 119 done in 0.008047103881835938 with a final error of 0.00015393542707897723 after 41 total iterations\n", - "Frame 120 done in 0.008795738220214844 with a final error of 0.00014494502102024853 after 58 total iterations\n", - "Frame 121 done in 0.008868694305419922 with a final error of 0.00014228062354959548 after 50 total iterations\n", - "Frame 122 done in 0.007871866226196289 with a final error of 0.00014034102787263691 after 38 total iterations\n", - "Frame 123 done in 0.008162975311279297 with a final error of 0.0001298061979468912 after 43 total iterations\n", - "Frame 124 done in 0.007790803909301758 with a final error of 0.00013443839270621538 after 38 total iterations\n", - "Frame 125 done in 0.009331941604614258 with a final error of 0.0001203664141939953 after 60 total iterations\n", - "Frame 126 done in 0.009021282196044922 with a final error of 0.00012281359522603452 after 42 total iterations\n", - "Frame 127 done in 0.009580850601196289 with a final error of 0.00011310287663945928 after 73 total iterations\n", - "Frame 128 done in 0.008407115936279297 with a final error of 0.00012013630475848913 after 50 total iterations\n", - "Frame 129 done in 0.008968114852905273 with a final error of 0.00010740610014181584 after 42 total iterations\n", - "Frame 130 done in 0.009971857070922852 with a final error of 0.00011330681445542723 after 38 total iterations\n", - "Frame 131 done in 0.009219169616699219 with a final error of 0.00010745169129222631 after 70 total iterations\n", - "Frame 132 done in 0.008418083190917969 with a final error of 0.00010225475125480443 after 52 total iterations\n", - "Frame 133 done in 0.009093999862670898 with a final error of 0.00011312980495858938 after 57 total iterations\n", - "Frame 134 done in 0.008897066116333008 with a final error of 9.940445306710899e-05 after 52 total iterations\n", - "Frame 135 done in 0.009026050567626953 with a final error of 9.905186016112566e-05 after 46 total iterations\n", - "Frame 136 done in 0.008385181427001953 with a final error of 0.00010734134411904961 after 50 total iterations\n", - "Frame 137 done in 0.00873875617980957 with a final error of 9.628331463318318e-05 after 44 total iterations\n", - "Frame 138 done in 0.008118152618408203 with a final error of 9.545675129629672e-05 after 49 total iterations\n", - "Frame 139 done in 0.007969856262207031 with a final error of 9.539743768982589e-05 after 44 total iterations\n", - "Frame 140 done in 0.009818792343139648 with a final error of 0.00010406273941043764 after 52 total iterations\n", - "Frame 141 done in 0.010232210159301758 with a final error of 9.255702025257051e-05 after 46 total iterations\n", - "Frame 142 done in 0.008580923080444336 with a final error of 0.00010015498264692724 after 50 total iterations\n", - "Frame 143 done in 0.008675098419189453 with a final error of 8.946124580688775e-05 after 56 total iterations\n", - "Frame 144 done in 0.008527040481567383 with a final error of 9.917883289745077e-05 after 52 total iterations\n", - "Frame 145 done in 0.008772850036621094 with a final error of 9.182162466458976e-05 after 44 total iterations\n", - "Frame 146 done in 0.008152961730957031 with a final error of 9.523046901449561e-05 after 44 total iterations\n", - "Frame 147 done in 0.007986068725585938 with a final error of 9.71908011706546e-05 after 44 total iterations\n", - "Frame 148 done in 0.008175849914550781 with a final error of 0.00010221776756225154 after 46 total iterations\n", - "Frame 149 done in 0.007947206497192383 with a final error of 0.00010996182390954345 after 42 total iterations\n", - "Frame 150 done in 0.008801937103271484 with a final error of 0.00011430965969339013 after 42 total iterations\n", - "Frame 151 done in 0.008222818374633789 with a final error of 0.00012100329331588 after 44 total iterations\n", - "Frame 152 done in 0.008587121963500977 with a final error of 0.00013596098870038986 after 52 total iterations\n", - "Frame 153 done in 0.008858203887939453 with a final error of 0.00012574349239002913 after 44 total iterations\n", - "Frame 154 done in 0.008365631103515625 with a final error of 0.00012566937948577106 after 42 total iterations\n", - "Frame 155 done in 0.008508920669555664 with a final error of 0.00012483811588026583 after 42 total iterations\n", - "Frame 156 done in 0.007957935333251953 with a final error of 0.00012736758799292147 after 42 total iterations\n", - "Frame 157 done in 0.008634090423583984 with a final error of 0.0001263640879187733 after 42 total iterations\n", - "Frame 158 done in 0.008073806762695312 with a final error of 0.00012573540152516216 after 42 total iterations\n", - "Frame 159 done in 0.008333683013916016 with a final error of 0.00012728733418043703 after 44 total iterations\n", - "Frame 160 done in 0.009033918380737305 with a final error of 0.0001302873861277476 after 42 total iterations\n", - "Frame 161 done in 0.008488893508911133 with a final error of 0.0001318721624556929 after 42 total iterations\n", - "Frame 162 done in 0.007976055145263672 with a final error of 0.00013701374700758606 after 44 total iterations\n", - "Frame 163 done in 0.008513927459716797 with a final error of 0.0001425337395630777 after 60 total iterations\n", - "Frame 164 done in 0.008155107498168945 with a final error of 0.00014282776101026684 after 50 total iterations\n", - "Frame 165 done in 0.007652997970581055 with a final error of 0.0001586732396390289 after 22 total iterations\n", - "Frame 166 done in 0.007745027542114258 with a final error of 0.00016288812912534922 after 34 total iterations\n", - "Frame 167 done in 0.007700920104980469 with a final error of 0.00017160538118332624 after 40 total iterations\n", - "Frame 168 done in 0.007712125778198242 with a final error of 0.00017751303676050156 after 42 total iterations\n", - "Frame 169 done in 0.009490966796875 with a final error of 0.00018335274944547564 after 44 total iterations\n", - "Frame 170 done in 0.008086919784545898 with a final error of 0.00018099226872436702 after 42 total iterations\n", - "Frame 171 done in 0.008729934692382812 with a final error of 0.00018233364971820265 after 52 total iterations\n", - "Frame 172 done in 0.008336067199707031 with a final error of 0.00018726859707385302 after 42 total iterations\n", - "Frame 173 done in 0.008052825927734375 with a final error of 0.00019310612697154284 after 49 total iterations\n", - "Frame 174 done in 0.007801055908203125 with a final error of 0.00018952033133246005 after 42 total iterations\n", - "Frame 175 done in 0.008508920669555664 with a final error of 0.00018088244542013854 after 44 total iterations\n", - "Frame 176 done in 0.009702920913696289 with a final error of 0.00018117425497621298 after 42 total iterations\n", - "Frame 177 done in 0.008418083190917969 with a final error of 0.0001760002924129367 after 44 total iterations\n", - "Frame 178 done in 0.007854938507080078 with a final error of 0.00016694700752850622 after 42 total iterations\n", - "Frame 179 done in 0.00870513916015625 with a final error of 0.00016018509631976485 after 44 total iterations\n", - "Frame 180 done in 0.008527040481567383 with a final error of 0.0001568508450873196 after 42 total iterations\n", - "Frame 181 done in 0.00885009765625 with a final error of 0.00016407023940701038 after 52 total iterations\n", - "Frame 182 done in 0.00776982307434082 with a final error of 0.00015198356413748115 after 42 total iterations\n", - "Frame 183 done in 0.007763385772705078 with a final error of 0.00015337868535425514 after 42 total iterations\n", - "Frame 184 done in 0.009050846099853516 with a final error of 0.00014526343147736043 after 42 total iterations\n", - "Frame 185 done in 0.008562088012695312 with a final error of 0.00014153590018395334 after 63 total iterations\n", - "Frame 186 done in 0.009495019912719727 with a final error of 0.00012950392556376755 after 71 total iterations\n", - "Frame 187 done in 0.007823944091796875 with a final error of 0.00013138102076482028 after 30 total iterations\n", - "Frame 188 done in 0.007925033569335938 with a final error of 0.00013844773638993502 after 34 total iterations\n", - "Frame 189 done in 0.00800633430480957 with a final error of 0.00012802697892766446 after 38 total iterations\n", - "Frame 190 done in 0.008970975875854492 with a final error of 0.00013653934001922607 after 46 total iterations\n", - "Frame 191 done in 0.007924079895019531 with a final error of 0.00012846886238548905 after 34 total iterations\n", - "Frame 192 done in 0.007752895355224609 with a final error of 0.00013797738938592374 after 26 total iterations\n", - "Frame 193 done in 0.008622884750366211 with a final error of 0.00013360832235775888 after 38 total iterations\n", - "Frame 194 done in 0.008388280868530273 with a final error of 0.0001406687661074102 after 30 total iterations\n", - "Frame 195 done in 0.007527828216552734 with a final error of 0.0001575823116581887 after 30 total iterations\n", - "Frame 196 done in 0.008725166320800781 with a final error of 0.00014288778766058385 after 68 total iterations\n", - "Frame 197 done in 0.008890867233276367 with a final error of 0.00015859889390412718 after 49 total iterations\n", - "Frame 198 done in 0.007925033569335938 with a final error of 0.0001567658910062164 after 42 total iterations\n", - "Frame 199 done in 0.007966995239257812 with a final error of 0.00015773088671267033 after 44 total iterations\n", - "Frame 200 done in 0.00820612907409668 with a final error of 0.00014937440573703498 after 42 total iterations\n", - "Frame 201 done in 0.009830951690673828 with a final error of 0.0001414967846358195 after 79 total iterations\n", - "Frame 202 done in 0.008002042770385742 with a final error of 0.0001399708417011425 after 47 total iterations\n", - "Frame 203 done in 0.008356809616088867 with a final error of 0.0001388646924169734 after 26 total iterations\n", - "Frame 204 done in 0.007676124572753906 with a final error of 0.0001265095197595656 after 34 total iterations\n", - "Frame 205 done in 0.007784843444824219 with a final error of 0.00012562535994220525 after 22 total iterations\n", - "Frame 206 done in 0.007326841354370117 with a final error of 0.00011943936988245696 after 26 total iterations\n", - "Frame 207 done in 0.007841825485229492 with a final error of 0.00011830403673229739 after 44 total iterations\n", - "Frame 208 done in 0.00867605209350586 with a final error of 0.00010808389924932271 after 42 total iterations\n", - "Frame 209 done in 0.012479066848754883 with a final error of 0.00011227160575799644 after 48 total iterations\n", - "Frame 210 done in 0.008531808853149414 with a final error of 9.807758033275604e-05 after 54 total iterations\n", - "Frame 211 done in 0.008350133895874023 with a final error of 0.00010235625086352229 after 48 total iterations\n", - "Frame 212 done in 0.008845090866088867 with a final error of 8.81300657056272e-05 after 52 total iterations\n", - "Frame 213 done in 0.00840616226196289 with a final error of 8.528646139893681e-05 after 56 total iterations\n", - "Frame 214 done in 0.00844573974609375 with a final error of 8.197221177397296e-05 after 42 total iterations\n", - "Frame 215 done in 0.008284807205200195 with a final error of 8.543214062228799e-05 after 48 total iterations\n", - "Frame 216 done in 0.008085966110229492 with a final error of 7.267021283041686e-05 after 42 total iterations\n", - "Frame 217 done in 0.008825063705444336 with a final error of 8.173516835086048e-05 after 60 total iterations\n", - "Frame 218 done in 0.008334875106811523 with a final error of 7.452872523572296e-05 after 46 total iterations\n", - "Frame 219 done in 0.009135246276855469 with a final error of 7.926330727059394e-05 after 55 total iterations\n", - "Frame 220 done in 0.008891820907592773 with a final error of 8.13387450762093e-05 after 42 total iterations\n", - "Frame 221 done in 0.007816076278686523 with a final error of 8.175382390618324e-05 after 42 total iterations\n", - "Frame 222 done in 0.007714033126831055 with a final error of 8.564828021917492e-05 after 42 total iterations\n", - "Frame 223 done in 0.008017778396606445 with a final error of 8.627233182778582e-05 after 49 total iterations\n", - "Frame 224 done in 0.007737159729003906 with a final error of 8.453337795799598e-05 after 44 total iterations\n", - "Frame 225 done in 0.007812023162841797 with a final error of 8.447612344752997e-05 after 42 total iterations\n", - "Frame 226 done in 0.00818014144897461 with a final error of 8.411509043071419e-05 after 55 total iterations\n", - "Frame 227 done in 0.007749795913696289 with a final error of 8.183732279576361e-05 after 42 total iterations\n", - "Frame 228 done in 0.007751941680908203 with a final error of 7.98711771494709e-05 after 44 total iterations\n", - "Frame 229 done in 0.009081125259399414 with a final error of 8.36334511404857e-05 after 42 total iterations\n", - "Frame 230 done in 0.008105754852294922 with a final error of 8.577181870350614e-05 after 42 total iterations\n", - "Frame 231 done in 0.008275032043457031 with a final error of 8.427611464867368e-05 after 42 total iterations\n", - "Frame 232 done in 0.009078025817871094 with a final error of 8.074655488599092e-05 after 48 total iterations\n", - "Frame 233 done in 0.007318973541259766 with a final error of 8.338222687598318e-05 after 22 total iterations\n", - "Frame 234 done in 0.007974863052368164 with a final error of 7.97226675786078e-05 after 26 total iterations\n", - "Frame 235 done in 0.007472038269042969 with a final error of 8.530818740837276e-05 after 26 total iterations\n", - "Frame 236 done in 0.007335186004638672 with a final error of 8.824633550830185e-05 after 28 total iterations\n", - "Frame 237 done in 0.00782012939453125 with a final error of 8.446212450508028e-05 after 42 total iterations\n", - "Frame 238 done in 0.00864100456237793 with a final error of 9.250835137208924e-05 after 62 total iterations\n", - "Frame 239 done in 0.007867097854614258 with a final error of 8.889530727174133e-05 after 42 total iterations\n", - "Frame 240 done in 0.008153676986694336 with a final error of 9.029522334458306e-05 after 46 total iterations\n", - "Frame 241 done in 0.008238077163696289 with a final error of 8.920012624002993e-05 after 42 total iterations\n", - "Frame 242 done in 0.00789189338684082 with a final error of 9.359666000818834e-05 after 42 total iterations\n", - "Frame 243 done in 0.00772404670715332 with a final error of 9.795354708330706e-05 after 42 total iterations\n", - "Frame 244 done in 0.007958173751831055 with a final error of 0.00010338042193325236 after 46 total iterations\n", - "Frame 245 done in 0.00890803337097168 with a final error of 0.00010957173071801662 after 55 total iterations\n", - "Frame 246 done in 0.008136749267578125 with a final error of 0.00012260691437404603 after 42 total iterations\n", - "Frame 247 done in 0.007271766662597656 with a final error of 0.00014418821956496686 after 26 total iterations\n", - "Frame 248 done in 0.00856924057006836 with a final error of 0.0001620471739443019 after 49 total iterations\n", - "Frame 249 done in 0.008812665939331055 with a final error of 0.00021995291172061116 after 41 total iterations\n", - "Frame 250 done in 0.008332967758178711 with a final error of 0.00023711088579148054 after 49 total iterations\n", - "Mean error: 0.00015007183537818491\n", - "Standard deviation of error: 5.236841388978064e-05\n", - "Mean total iters: 55.656002044677734\n", - "Standard deviation of total iters: 107.47499084472656\n", - "starting offset optimization\n", - "Final pose optimization\n", - "Pose Optimization:\n", - "Pose Optimization done in 2.2092349529266357\n", - "Frame 1 done in 0.061888933181762695 with a final error of 0.0003898987779393792 after 1667 total iterations\n", - "Frame 2 done in 0.023962974548339844 with a final error of 0.0002875842619687319 after 474 total iterations\n", - "Frame 3 done in 0.012990951538085938 with a final error of 0.00025516055757179856 after 198 total iterations\n", - "Frame 4 done in 0.010208845138549805 with a final error of 0.00026017881464213133 after 83 total iterations\n", - "Frame 5 done in 0.009871959686279297 with a final error of 0.0002540439018048346 after 77 total iterations\n", - "Frame 6 done in 0.007610797882080078 with a final error of 0.0002820869558490813 after 30 total iterations\n", - "Frame 7 done in 0.008491039276123047 with a final error of 0.00023970697657205164 after 60 total iterations\n", - "Frame 8 done in 0.007789134979248047 with a final error of 0.0002484859724063426 after 36 total iterations\n", - "Frame 9 done in 0.00820302963256836 with a final error of 0.0002435489441268146 after 26 total iterations\n", - "Frame 10 done in 0.008580923080444336 with a final error of 0.0002437186922179535 after 26 total iterations\n", - "Frame 11 done in 0.0076961517333984375 with a final error of 0.00023965074797160923 after 22 total iterations\n", - "Frame 12 done in 0.008378744125366211 with a final error of 0.00022918071772437543 after 34 total iterations\n", - "Frame 13 done in 0.00734710693359375 with a final error of 0.00023091626644600183 after 26 total iterations\n", - "Frame 14 done in 0.008414983749389648 with a final error of 0.0002284962683916092 after 48 total iterations\n", - "Frame 15 done in 0.007925987243652344 with a final error of 0.00021715516049880534 after 44 total iterations\n", - "Frame 16 done in 0.009103059768676758 with a final error of 0.00022285262821242213 after 50 total iterations\n", - "Frame 17 done in 0.008032798767089844 with a final error of 0.0002122822916135192 after 44 total iterations\n", - "Frame 18 done in 0.008298158645629883 with a final error of 0.0002193574619013816 after 50 total iterations\n", - "Frame 19 done in 0.008402109146118164 with a final error of 0.0002088079636450857 after 44 total iterations\n", - "Frame 20 done in 0.009106874465942383 with a final error of 0.00022486336820293218 after 50 total iterations\n", - "Frame 21 done in 0.009156942367553711 with a final error of 0.00021464838937390596 after 44 total iterations\n", - "Frame 22 done in 0.011726140975952148 with a final error of 0.00021936814300715923 after 50 total iterations\n", - "Frame 23 done in 0.008954048156738281 with a final error of 0.00021057258709333837 after 44 total iterations\n", - "Frame 24 done in 0.009762048721313477 with a final error of 0.00021968266810290515 after 50 total iterations\n", - "Frame 25 done in 0.009266138076782227 with a final error of 0.00020787108223885298 after 49 total iterations\n", - "Frame 26 done in 0.008242130279541016 with a final error of 0.00021517467394005507 after 52 total iterations\n", - "Frame 27 done in 0.008402824401855469 with a final error of 0.00020798435434699059 after 56 total iterations\n", - "Frame 28 done in 0.009068012237548828 with a final error of 0.00020811318245250732 after 47 total iterations\n", - "Frame 29 done in 0.009172916412353516 with a final error of 0.00022977113258093596 after 53 total iterations\n", - "Frame 30 done in 0.007404804229736328 with a final error of 0.0002708396641537547 after 22 total iterations\n", - "Frame 31 done in 0.008478879928588867 with a final error of 0.0002743572404142469 after 39 total iterations\n", - "Frame 32 done in 0.009897947311401367 with a final error of 0.0002578634303063154 after 56 total iterations\n", - "Frame 33 done in 0.008706092834472656 with a final error of 0.00023998378310352564 after 56 total iterations\n", - "Frame 34 done in 0.009999275207519531 with a final error of 0.00025352410739287734 after 40 total iterations\n", - "Frame 35 done in 0.00948476791381836 with a final error of 0.0002551583747845143 after 72 total iterations\n", - "Frame 36 done in 0.011530160903930664 with a final error of 0.00023696996504440904 after 147 total iterations\n", - "Frame 37 done in 0.010834932327270508 with a final error of 0.00017959973774850368 after 112 total iterations\n", - "Frame 38 done in 0.009180307388305664 with a final error of 0.00019197211076971143 after 80 total iterations\n", - "Frame 39 done in 0.008095026016235352 with a final error of 0.0002030779141932726 after 45 total iterations\n", - "Frame 40 done in 0.008005857467651367 with a final error of 0.00020271373796276748 after 44 total iterations\n", - "Frame 41 done in 0.008179903030395508 with a final error of 0.00020537743694148958 after 51 total iterations\n", - "Frame 42 done in 0.008079051971435547 with a final error of 0.0001936661428771913 after 40 total iterations\n", - "Frame 43 done in 0.008314847946166992 with a final error of 0.00020110764307901263 after 40 total iterations\n", - "Frame 44 done in 0.007825136184692383 with a final error of 0.00018707072013057768 after 40 total iterations\n", - "Frame 45 done in 0.00811910629272461 with a final error of 0.00017988459148909897 after 48 total iterations\n", - "Frame 46 done in 0.00790715217590332 with a final error of 0.000183338881470263 after 22 total iterations\n", - "Frame 47 done in 0.008215188980102539 with a final error of 0.00017636915436014533 after 47 total iterations\n", - "Frame 48 done in 0.008304834365844727 with a final error of 0.00017683942860458046 after 49 total iterations\n", - "Frame 49 done in 0.008227109909057617 with a final error of 0.00016977830091491342 after 42 total iterations\n", - "Frame 50 done in 0.008275985717773438 with a final error of 0.00017623452004045248 after 48 total iterations\n", - "Frame 51 done in 0.007782936096191406 with a final error of 0.0001691988145466894 after 42 total iterations\n", - "Frame 52 done in 0.008144140243530273 with a final error of 0.0001791224640328437 after 48 total iterations\n", - "Frame 53 done in 0.008135795593261719 with a final error of 0.00016845291247591376 after 55 total iterations\n", - "Frame 54 done in 0.0076999664306640625 with a final error of 0.0001625737058930099 after 26 total iterations\n", - "Frame 55 done in 0.0076999664306640625 with a final error of 0.0001588614541105926 after 38 total iterations\n", - "Frame 56 done in 0.007547140121459961 with a final error of 0.0001637660025153309 after 26 total iterations\n", - "Frame 57 done in 0.007581949234008789 with a final error of 0.0001586228609085083 after 34 total iterations\n", - "Frame 58 done in 0.00834202766418457 with a final error of 0.00015605123189743608 after 42 total iterations\n", - "Frame 59 done in 0.008502960205078125 with a final error of 0.00015320314560085535 after 42 total iterations\n", - "Frame 60 done in 0.008962154388427734 with a final error of 0.00014960291446186602 after 60 total iterations\n", - "Frame 61 done in 0.007810115814208984 with a final error of 0.00014694231504108757 after 42 total iterations\n", - "Frame 62 done in 0.008389949798583984 with a final error of 0.00014437577920034528 after 54 total iterations\n", - "Frame 63 done in 0.008358001708984375 with a final error of 0.0001466407993575558 after 42 total iterations\n", - "Frame 64 done in 0.008754730224609375 with a final error of 0.00014297313464339823 after 57 total iterations\n", - "Frame 65 done in 0.007781028747558594 with a final error of 0.00014327646931633353 after 42 total iterations\n", - "Frame 66 done in 0.008357048034667969 with a final error of 0.00014073040802031755 after 57 total iterations\n", - "Frame 67 done in 0.007802009582519531 with a final error of 0.00014184426981955767 after 42 total iterations\n", - "Frame 68 done in 0.009311914443969727 with a final error of 0.00013790716184303164 after 57 total iterations\n", - "Frame 69 done in 0.00789022445678711 with a final error of 0.0001389553362969309 after 42 total iterations\n", - "Frame 70 done in 0.008484840393066406 with a final error of 0.00013575614138972014 after 57 total iterations\n", - "Frame 71 done in 0.00791788101196289 with a final error of 0.00013765052426606417 after 42 total iterations\n", - "Frame 72 done in 0.008433818817138672 with a final error of 0.00013500958448275924 after 57 total iterations\n", - "Frame 73 done in 0.007642030715942383 with a final error of 0.00013614166527986526 after 42 total iterations\n", - "Frame 74 done in 0.008313894271850586 with a final error of 0.0001335506676696241 after 47 total iterations\n", - "Frame 75 done in 0.007787942886352539 with a final error of 0.00013452349230647087 after 42 total iterations\n", - "Frame 76 done in 0.008126974105834961 with a final error of 0.00013462561764754355 after 42 total iterations\n", - "Frame 77 done in 0.007866859436035156 with a final error of 0.00013607286382466555 after 42 total iterations\n", - "Frame 78 done in 0.008176088333129883 with a final error of 0.00013698177644982934 after 52 total iterations\n", - "Frame 79 done in 0.007976055145263672 with a final error of 0.00013638481323141605 after 42 total iterations\n", - "Frame 80 done in 0.008279085159301758 with a final error of 0.00013677598326466978 after 42 total iterations\n", - "Frame 81 done in 0.007995843887329102 with a final error of 0.000136867820401676 after 42 total iterations\n", - "Frame 82 done in 0.0077817440032958984 with a final error of 0.0001360862806905061 after 42 total iterations\n", - "Frame 83 done in 0.007731199264526367 with a final error of 0.00013697489339392632 after 42 total iterations\n", - "Frame 84 done in 0.008493900299072266 with a final error of 0.0001363373885396868 after 42 total iterations\n", - "Frame 85 done in 0.00782322883605957 with a final error of 0.00013788111391477287 after 42 total iterations\n", - "Frame 86 done in 0.008126974105834961 with a final error of 0.00013778582797385752 after 42 total iterations\n", - "Frame 87 done in 0.007907867431640625 with a final error of 0.0001377526205033064 after 42 total iterations\n", - "Frame 88 done in 0.009786128997802734 with a final error of 0.00013684113218914717 after 42 total iterations\n", - "Frame 89 done in 0.007863759994506836 with a final error of 0.00013638849486596882 after 42 total iterations\n", - "Frame 90 done in 0.007697105407714844 with a final error of 0.00013778769061900675 after 42 total iterations\n", - "Frame 91 done in 0.007820844650268555 with a final error of 0.000137721945066005 after 42 total iterations\n", - "Frame 92 done in 0.007693052291870117 with a final error of 0.00013818562729284167 after 42 total iterations\n", - "Frame 93 done in 0.00776219367980957 with a final error of 0.00014009923324920237 after 42 total iterations\n", - "Frame 94 done in 0.007889032363891602 with a final error of 0.00014116009697318077 after 42 total iterations\n", - "Frame 95 done in 0.009947061538696289 with a final error of 0.00014050680329091847 after 44 total iterations\n", - "Frame 96 done in 0.009041070938110352 with a final error of 0.0001376776781398803 after 46 total iterations\n", - "Frame 97 done in 0.008373737335205078 with a final error of 0.0001343570475000888 after 44 total iterations\n", - "Frame 98 done in 0.007920026779174805 with a final error of 0.00013220167602412403 after 44 total iterations\n", - "Frame 99 done in 0.00839090347290039 with a final error of 0.0001228810870088637 after 64 total iterations\n", - "Frame 100 done in 0.007967948913574219 with a final error of 0.00012854390661232173 after 46 total iterations\n", - "Frame 101 done in 0.009312868118286133 with a final error of 0.00013380842574406415 after 41 total iterations\n", - "Frame 102 done in 0.008270740509033203 with a final error of 0.0001229614281328395 after 44 total iterations\n", - "Frame 103 done in 0.008703947067260742 with a final error of 0.00012054650869686157 after 42 total iterations\n", - "Frame 104 done in 0.009190082550048828 with a final error of 0.00011560676648514345 after 26 total iterations\n", - "Frame 105 done in 0.008118629455566406 with a final error of 0.00012333792983554304 after 30 total iterations\n", - "Frame 106 done in 0.008968830108642578 with a final error of 0.00012301317474339157 after 22 total iterations\n", - "Frame 107 done in 0.00969696044921875 with a final error of 0.0001087135387933813 after 38 total iterations\n", - "Frame 108 done in 0.009721040725708008 with a final error of 0.00010753273090813309 after 63 total iterations\n", - "Frame 109 done in 0.009026765823364258 with a final error of 0.00011090424231952056 after 62 total iterations\n", - "Frame 110 done in 0.007915019989013672 with a final error of 0.00010749025386758149 after 22 total iterations\n", - "Frame 111 done in 0.008315324783325195 with a final error of 0.00010226221638731658 after 42 total iterations\n", - "Frame 112 done in 0.010426759719848633 with a final error of 9.27400978980586e-05 after 75 total iterations\n", - "Frame 113 done in 0.007647037506103516 with a final error of 0.00010731125075835735 after 32 total iterations\n", - "Frame 114 done in 0.008988142013549805 with a final error of 9.888236672850326e-05 after 71 total iterations\n", - "Frame 115 done in 0.008278846740722656 with a final error of 0.00012779084499925375 after 34 total iterations\n", - "Frame 116 done in 0.0076410770416259766 with a final error of 0.00014634121907874942 after 31 total iterations\n", - "Frame 117 done in 0.00825810432434082 with a final error of 0.00012132980191381648 after 58 total iterations\n", - "Frame 118 done in 0.010467767715454102 with a final error of 0.00013502970978152007 after 56 total iterations\n", - 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"Frame 128 done in 0.00951695442199707 with a final error of 0.00012510947999544442 after 70 total iterations\n", - "Frame 129 done in 0.007986783981323242 with a final error of 0.00011607153282966465 after 34 total iterations\n", - "Frame 130 done in 0.009809732437133789 with a final error of 0.00010331885277992114 after 102 total iterations\n", - "Frame 131 done in 0.008138895034790039 with a final error of 0.0001080692745745182 after 47 total iterations\n", - "Frame 132 done in 0.008253097534179688 with a final error of 9.997808956541121e-05 after 55 total iterations\n", - "Frame 133 done in 0.008304119110107422 with a final error of 0.0001108693249989301 after 44 total iterations\n", - "Frame 134 done in 0.009248018264770508 with a final error of 0.00010014935105573386 after 44 total iterations\n", - "Frame 135 done in 0.00849294662475586 with a final error of 9.958383452612907e-05 after 42 total iterations\n", - "Frame 136 done in 0.008507013320922852 with a final error of 9.762306581251323e-05 after 44 total iterations\n", - "Frame 137 done in 0.008170127868652344 with a final error of 0.00010725219908636063 after 48 total iterations\n", - "Frame 138 done in 0.007809162139892578 with a final error of 9.633006266085431e-05 after 44 total iterations\n", - "Frame 139 done in 0.009387016296386719 with a final error of 0.00010569942242000252 after 52 total iterations\n", - "Frame 140 done in 0.007992982864379883 with a final error of 9.505434718448669e-05 after 46 total iterations\n", - "Frame 141 done in 0.008421182632446289 with a final error of 0.00010244280565530062 after 53 total iterations\n", - "Frame 142 done in 0.008785009384155273 with a final error of 8.950033225119114e-05 after 50 total iterations\n", - "Frame 143 done in 0.008114814758300781 with a final error of 8.88643553480506e-05 after 44 total iterations\n", - "Frame 144 done in 0.008069992065429688 with a final error of 9.852951916400343e-05 after 52 total iterations\n", - "Frame 145 done in 0.008108854293823242 with a final error of 9.078656148631126e-05 after 44 total iterations\n", - "Frame 146 done in 0.008002042770385742 with a final error of 9.39874880714342e-05 after 44 total iterations\n", - "Frame 147 done in 0.00825810432434082 with a final error of 0.00010513535380596295 after 55 total iterations\n", - "Frame 148 done in 0.007901906967163086 with a final error of 0.00010011764243245125 after 44 total iterations\n", - "Frame 149 done in 0.008356094360351562 with a final error of 0.00011827004345832393 after 52 total iterations\n", - "Frame 150 done in 0.007827043533325195 with a final error of 0.00011209269723622128 after 44 total iterations\n", - "Frame 151 done in 0.008415937423706055 with a final error of 0.00012624777446035296 after 48 total iterations\n", - "Frame 152 done in 0.008302688598632812 with a final error of 0.00012388694449327886 after 46 total iterations\n", - "Frame 153 done in 0.008825063705444336 with a final error of 0.00013333317474462092 after 50 total iterations\n", - "Frame 154 done in 0.00900578498840332 with a final error of 0.00012287691060919315 after 53 total iterations\n", - "Frame 155 done in 0.00859212875366211 with a final error of 0.00013108758139424026 after 52 total iterations\n", - "Frame 156 done in 0.008073091506958008 with a final error of 0.00012379910913296044 after 48 total iterations\n", - "Frame 157 done in 0.008395910263061523 with a final error of 0.00013271093484945595 after 52 total iterations\n", - "Frame 158 done in 0.008722066879272461 with a final error of 0.00012201412755530328 after 55 total iterations\n", - "Frame 159 done in 0.008305788040161133 with a final error of 0.00012302807590458542 after 42 total iterations\n", - "Frame 160 done in 0.008170366287231445 with a final error of 0.00013606439461000264 after 52 total iterations\n", - "Frame 161 done in 0.008708715438842773 with a final error of 0.00012588428216986358 after 48 total iterations\n", - "Frame 162 done in 0.009984970092773438 with a final error of 0.0001410352560924366 after 52 total iterations\n", - "Frame 163 done in 0.008498907089233398 with a final error of 0.00013550139556173235 after 42 total iterations\n", - "Frame 164 done in 0.008177995681762695 with a final error of 0.0001359739835606888 after 46 total iterations\n", - "Frame 165 done in 0.009014129638671875 with a final error of 0.00015391191118396819 after 50 total iterations\n", - "Frame 166 done in 0.008877992630004883 with a final error of 0.00014639047731179744 after 66 total iterations\n", - "Frame 167 done in 0.009472131729125977 with a final error of 0.00016764269093982875 after 52 total iterations\n", - "Frame 168 done in 0.008647918701171875 with a final error of 0.00016260470147244632 after 55 total iterations\n", - "Frame 169 done in 0.007838964462280273 with a final error of 0.00017406491679139435 after 36 total iterations\n", - "Frame 170 done in 0.009992122650146484 with a final error of 0.00015957027790136635 after 84 total iterations\n", - "Frame 171 done in 0.007678985595703125 with a final error of 0.00017409128486178815 after 22 total iterations\n", - "Frame 172 done in 0.0074710845947265625 with a final error of 0.0001730275253066793 after 30 total iterations\n", - "Frame 173 done in 0.00757598876953125 with a final error of 0.00018487627676222473 after 22 total iterations\n", - "Frame 174 done in 0.009701013565063477 with a final error of 0.00018541095778346062 after 40 total iterations\n", - "Frame 175 done in 0.008471965789794922 with a final error of 0.00017238954023923725 after 58 total iterations\n", - "Frame 176 done in 0.009107112884521484 with a final error of 0.00017439454677514732 after 44 total iterations\n", - "Frame 177 done in 0.008255958557128906 with a final error of 0.00017026078421622515 after 42 total iterations\n", - "Frame 178 done in 0.008273839950561523 with a final error of 0.00016122718807309866 after 44 total iterations\n", - "Frame 179 done in 0.007719278335571289 with a final error of 0.00015529431402683258 after 44 total iterations\n", - "Frame 180 done in 0.00812077522277832 with a final error of 0.00016079007764346898 after 52 total iterations\n", - "Frame 181 done in 0.008394956588745117 with a final error of 0.0001492633018642664 after 44 total iterations\n", - "Frame 182 done in 0.010232925415039062 with a final error of 0.00014715149882249534 after 86 total iterations\n", - "Frame 183 done in 0.008816957473754883 with a final error of 0.00015516333223786205 after 52 total iterations\n", - "Frame 184 done in 0.008412837982177734 with a final error of 0.0001359582383884117 after 42 total iterations\n", - "Frame 185 done in 0.008415937423706055 with a final error of 0.00013749164645560086 after 44 total iterations\n", - "Frame 186 done in 0.009362220764160156 with a final error of 0.0001237557444255799 after 71 total iterations\n", - "Frame 187 done in 0.0076751708984375 with a final error of 0.00012549663370009512 after 42 total iterations\n", - "Frame 188 done in 0.01021265983581543 with a final error of 0.00012502979370765388 after 90 total iterations\n", - "Frame 189 done in 0.008804082870483398 with a final error of 0.0001151234027929604 after 60 total iterations\n", - "Frame 190 done in 0.010326147079467773 with a final error of 0.00011277642624918371 after 91 total iterations\n", - "Frame 191 done in 0.00913095474243164 with a final error of 0.00011657923460006714 after 62 total iterations\n", - "Frame 192 done in 0.0072689056396484375 with a final error of 0.00011999175330856815 after 22 total iterations\n", - "Frame 193 done in 0.008320093154907227 with a final error of 0.00011672452092170715 after 42 total iterations\n", - "Frame 194 done in 0.008787870407104492 with a final error of 0.00011350581189617515 after 69 total iterations\n", - "Frame 195 done in 0.00861215591430664 with a final error of 0.00012405925372149795 after 62 total iterations\n", - "Frame 196 done in 0.007963895797729492 with a final error of 0.0001319861621595919 after 42 total iterations\n", - "Frame 197 done in 0.008855104446411133 with a final error of 0.00015136141155380756 after 61 total iterations\n", - "Frame 198 done in 0.008439064025878906 with a final error of 0.00015173705469351262 after 46 total iterations\n", - "Frame 199 done in 0.008340835571289062 with a final error of 0.00014446015120483935 after 44 total iterations\n", - "Frame 200 done in 0.010098934173583984 with a final error of 0.00014012733299750835 after 46 total iterations\n", - "Frame 201 done in 0.00869131088256836 with a final error of 0.0001476289180573076 after 53 total iterations\n", - "Frame 202 done in 0.007951021194458008 with a final error of 0.00013587383728008717 after 42 total iterations\n", - "Frame 203 done in 0.00806283950805664 with a final error of 0.00013878720346838236 after 46 total iterations\n", - "Frame 204 done in 0.008058309555053711 with a final error of 0.0001228506152983755 after 44 total iterations\n", - "Frame 205 done in 0.00866389274597168 with a final error of 0.00012607721146196127 after 55 total iterations\n", - "Frame 206 done in 0.008573055267333984 with a final error of 0.00012030630023218691 after 52 total iterations\n", - "Frame 207 done in 0.008346796035766602 with a final error of 0.00010647836461430416 after 42 total iterations\n", - "Frame 208 done in 0.007789134979248047 with a final error of 0.00010597419168334454 after 44 total iterations\n", - "Frame 209 done in 0.008026838302612305 with a final error of 0.00010008782555814832 after 49 total iterations\n", - "Frame 210 done in 0.008236169815063477 with a final error of 0.00010598140943329781 after 52 total iterations\n", - "Frame 211 done in 0.010169029235839844 with a final error of 9.202151704812422e-05 after 42 total iterations\n", - "Frame 212 done in 0.009417295455932617 with a final error of 9.557550947647542e-05 after 52 total iterations\n", - "Frame 213 done in 0.008871078491210938 with a final error of 8.307337702717632e-05 after 51 total iterations\n", - "Frame 214 done in 0.008352994918823242 with a final error of 7.980020745890215e-05 after 44 total iterations\n", - "Frame 215 done in 0.008651971817016602 with a final error of 7.261148130055517e-05 after 42 total iterations\n", - "Frame 216 done in 0.00809788703918457 with a final error of 7.002965867286548e-05 after 42 total iterations\n", - "Frame 217 done in 0.008080005645751953 with a final error of 6.901469896547496e-05 after 42 total iterations\n", - "Frame 218 done in 0.007973194122314453 with a final error of 7.267086039064452e-05 after 44 total iterations\n", - "Frame 219 done in 0.008310079574584961 with a final error of 7.698347326368093e-05 after 42 total iterations\n", - "Frame 220 done in 0.008402109146118164 with a final error of 7.535744225606322e-05 after 53 total iterations\n", - "Frame 221 done in 0.008235931396484375 with a final error of 7.736790576018393e-05 after 42 total iterations\n", - "Frame 222 done in 0.009737014770507812 with a final error of 7.940149225760251e-05 after 72 total iterations\n", - "Frame 223 done in 0.009853124618530273 with a final error of 8.900558896129951e-05 after 57 total iterations\n", - "Frame 224 done in 0.008313894271850586 with a final error of 7.86515956860967e-05 after 44 total iterations\n", - "Frame 225 done in 0.009528160095214844 with a final error of 8.951603376772255e-05 after 52 total iterations\n", - "Frame 226 done in 0.008517980575561523 with a final error of 7.893685688031837e-05 after 42 total iterations\n", - "Frame 227 done in 0.00820016860961914 with a final error of 7.753176032565534e-05 after 44 total iterations\n", - "Frame 228 done in 0.00939178466796875 with a final error of 7.469550473615527e-05 after 66 total iterations\n", - "Frame 229 done in 0.008085966110229492 with a final error of 8.033150515984744e-05 after 42 total iterations\n", - "Frame 230 done in 0.008261919021606445 with a final error of 8.190659718820825e-05 after 42 total iterations\n", - "Frame 231 done in 0.008049964904785156 with a final error of 8.968518523033708e-05 after 52 total iterations\n", - "Frame 232 done in 0.00908517837524414 with a final error of 7.56344452383928e-05 after 47 total iterations\n", - "Frame 233 done in 0.007977008819580078 with a final error of 7.581304816994816e-05 after 44 total iterations\n", - "Frame 234 done in 0.008010149002075195 with a final error of 7.711345097050071e-05 after 42 total iterations\n", - "Frame 235 done in 0.008027791976928711 with a final error of 7.878217729739845e-05 after 44 total iterations\n", - "Frame 236 done in 0.008070230484008789 with a final error of 8.182537567336112e-05 after 42 total iterations\n", - "Frame 237 done in 0.007863759994506836 with a final error of 8.23281443445012e-05 after 44 total iterations\n", - "Frame 238 done in 0.007946968078613281 with a final error of 8.55575199238956e-05 after 42 total iterations\n", - "Frame 239 done in 0.00939798355102539 with a final error of 8.87873611645773e-05 after 61 total iterations\n", - "Frame 240 done in 0.008496999740600586 with a final error of 8.68986317072995e-05 after 42 total iterations\n", - "Frame 241 done in 0.00807499885559082 with a final error of 8.597356645623222e-05 after 42 total iterations\n", - "Frame 242 done in 0.008095979690551758 with a final error of 9.061206947080791e-05 after 44 total iterations\n", - "Frame 243 done in 0.008036136627197266 with a final error of 9.640267671784386e-05 after 42 total iterations\n", - "Frame 244 done in 0.008166790008544922 with a final error of 0.00010002586350310594 after 42 total iterations\n", - "Frame 245 done in 0.008672952651977539 with a final error of 0.00010730246140155941 after 44 total iterations\n", - "Frame 246 done in 0.009752035140991211 with a final error of 0.00012258015340194106 after 38 total iterations\n", - "Frame 247 done in 0.009560823440551758 with a final error of 0.00013694925291929394 after 38 total iterations\n", - "Frame 248 done in 0.009676933288574219 with a final error of 0.0001683536102063954 after 60 total iterations\n", - "Frame 249 done in 0.008682966232299805 with a final error of 0.00020501745166257024 after 42 total iterations\n", - "Frame 250 done in 0.008939027786254883 with a final error of 0.00025162988458760083 after 52 total iterations\n", - "Mean error: 0.00014491409820038825\n", - "Standard deviation of error: 5.088666148367338e-05\n", - "Mean total iters: 56.540000915527344\n", - "Standard deviation of total iters: 106.91610717773438\n" + "Root Optimization:\n" ] } ], diff --git a/stac_mjx/main.py b/stac_mjx/main.py index 4ebe669..4a6054c 100644 --- a/stac_mjx/main.py +++ b/stac_mjx/main.py @@ -10,22 +10,21 @@ from stac_mjx import utils from stac_mjx.controller import STAC from pathlib import Path -from typing import List, Dict +from typing import List, Dict, Union import hydra -def load_configs(relative_path: str) -> DictConfig: +def load_configs(config_dir: Union[Path, str]) -> DictConfig: """Initializes configs. Args: - stac_config_path (str): path to stac yaml file - model_config_path (str): path to model yaml file + config_dir ([Path, str]): absolute path to config directory Returns: DictConfig: stac.yaml config to use in run_stac() """ # Initialize Hydra and set the config path - with hydra.initialize(config_path=relative_path): + with hydra.initialize_config_dir(config_dir=str(config_dir), version_base=None): # Compose the configuration by specifying the config name cfg = hydra.compose(config_name="config") return cfg From 997e9a07b1993798de3577810f86727dc9f0559e Mon Sep 17 00:00:00 2001 From: Charles Zhang Date: Fri, 6 Sep 2024 18:31:35 -0400 Subject: [PATCH 3/9] update unit tests, load_config, and viz --- demos/api_usage.ipynb | 182 ++++++++++++++++++ demos/viz_usage.ipynb | 20 +- stac_mjx/utils.py | 3 +- stac_mjx/viz.py | 10 +- tests/configs/config.yaml | 4 + .../{data => configs/model}/test_rodent.yaml | 0 .../model}/test_rodent_label3d.yaml | 0 .../model}/test_rodent_less_kp_names.yaml | 0 .../model}/test_rodent_no_kp_names.yaml | 2 +- tests/{data => configs/stac}/test_stac.yaml | 0 tests/conftest.py | 1 + .../data/points3d_00_scaleSmooth_1_rpt_15.h5 | Bin 0 -> 2760589 bytes tests/fixtures/configs.py | 36 ++++ tests/fixtures/datasets.py | 30 --- tests/test_controller.py | 19 +- tests/test_main.py | 13 +- tests/test_utils.py | 77 ++++---- 17 files changed, 294 insertions(+), 103 deletions(-) create mode 100644 tests/configs/config.yaml rename tests/{data => configs/model}/test_rodent.yaml (100%) rename tests/{data => configs/model}/test_rodent_label3d.yaml (100%) rename tests/{data => configs/model}/test_rodent_less_kp_names.yaml (100%) rename tests/{data => configs/model}/test_rodent_no_kp_names.yaml (99%) rename tests/{data => configs/stac}/test_stac.yaml (100%) create mode 100644 tests/data/points3d_00_scaleSmooth_1_rpt_15.h5 create mode 100644 tests/fixtures/configs.py diff --git a/demos/api_usage.ipynb b/demos/api_usage.ipynb index 782a7f0..5a38984 100644 --- a/demos/api_usage.ipynb +++ b/demos/api_usage.ipynb @@ -67,6 +67,188 @@ "text": [ "Root Optimization:\n" ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "2024-09-06 00:02:51.141278: E external/xla/xla/service/slow_operation_alarm.cc:65] \n", + "********************************\n", + "[Compiling module jit_q_opt] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", + "********************************\n", + "2024-09-06 00:22:35.304764: E external/xla/xla/service/slow_operation_alarm.cc:133] The operation took 21m44.168786s\n", + "\n", + "********************************\n", + "[Compiling module jit_q_opt] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", + "********************************\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "q_opt 1 finished in 1368.0123829841614 with an error of 0.0008740306948311627\n", + "Replace 1 finished in 41.61302089691162\n", + "starting q_opt 2\n", + "q_opt 1 finished in 0.020496129989624023 with an error of 0.0006967128720134497\n", + "Replace 2 finished in 0.0011398792266845703\n", + "Root optimization finished in 1409.7374441623688\n", + "Calibration iteration: 1/6\n", + "Pose Optimization:\n", + "Pose Optimization done in 0.3304412364959717\n", + "Frame 1 done in 0.07806992530822754 with a final error of 0.00022890132095199078\n", + "Frame 2 done in 0.025510311126708984 with a final error of 0.00020981981651857495\n", + "Frame 3 done in 0.02531576156616211 with a final error of 0.0001848320971475914\n", + "Frame 4 done in 0.025770902633666992 with a final error of 0.00016470930131617934\n", + "Frame 5 done in 0.027329206466674805 with a final error of 0.00014780914352741092\n", + "Frame 6 done in 0.027764081954956055 with a final error of 0.00013331846275832504\n", + "Frame 7 done in 0.027595043182373047 with a final error of 0.00012161406630184501\n", + "Frame 8 done in 0.025384902954101562 with a final error of 0.00010930538701359183\n", + "Frame 9 done in 0.009312152862548828 with a final error of 0.00010728859342634678\n", + "Frame 10 done in 0.025027036666870117 with a final error of 5.7451619795756415e-05\n", + "Flattened array shape: (10,)\n", + "Mean: 0.00014650498633272946\n", + "Standard deviation: 4.923989035887644e-05\n", + "starting offset optimization\n", + "Begining offset optimization:\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/Users/charleszhang/miniforge3/envs/stac-mjx-env/lib/python3.11/site-packages/jaxopt/_src/optax_wrapper.py:120: DeprecationWarning: jax.tree_map is deprecated: use jax.tree.map (jax v0.4.25 or newer) or jax.tree_util.tree_map (any JAX version).\n", + " return jax.tree_map(update_fun, params, updates)\n", + "2024-09-06 00:26:17.872189: E external/xla/xla/service/slow_operation_alarm.cc:133] The operation took 2m34.908153s\n", + "\n", + "********************************\n", + "[Compiling module jit_m_opt] Very slow compile? If you want to file a bug, run with envvar XLA_FLAGS=--xla_dump_to=/tmp/foo and attach the results.\n", + "********************************\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Final error of 0.0008380845538340509\n", + "offset optimization finished in 179.66254925727844\n", + "Calibration iteration: 2/6\n", + "Pose Optimization:\n", + "Pose Optimization done in 0.28058481216430664\n", + "Frame 1 done in 0.031497955322265625 with a final error of 1.1411078958190046e-05\n", + "Frame 2 done in 0.027939796447753906 with a final error of 6.909502189955674e-06\n", + "Frame 3 done in 0.027025222778320312 with a final error of 1.1457681466708891e-05\n", + "Frame 4 done in 0.0266268253326416 with a final error of 6.175150247145211e-06\n", + "Frame 5 done in 0.02672719955444336 with a final error of 1.9860350221279077e-05\n", + "Frame 6 done in 0.026689767837524414 with a final error of 7.791326424921863e-06\n", + "Frame 7 done in 0.027480125427246094 with a final error of 1.2964310371899046e-05\n", + "Frame 8 done in 0.03257918357849121 with a final error of 5.7540546549716964e-06\n", + "Frame 9 done in 0.0269320011138916 with a final error of 8.202971002901904e-06\n", + "Frame 10 done in 0.026469945907592773 with a final error of 8.9601426225272e-06\n", + "Flattened array shape: (10,)\n", + "Mean: 9.948656952474266e-06\n", + "Standard deviation: 4.018716481368756e-06\n", + "starting offset optimization\n", + "Begining offset optimization:\n", + "Final error of 0.0006915951962582767\n", + "offset optimization finished in 0.019406795501708984\n", + "Calibration iteration: 3/6\n", + "Pose Optimization:\n", + "Pose Optimization done in 0.2873880863189697\n", + "Frame 1 done in 0.029324769973754883 with a final error of 6.253591436689021e-06\n", + "Frame 2 done in 0.02792811393737793 with a final error of 1.4736633602296934e-05\n", + "Frame 3 done in 0.029765844345092773 with a final error of 1.872341636044439e-05\n", + "Frame 4 done in 0.028580188751220703 with a final error of 8.329601769219153e-06\n", + "Frame 5 done in 0.027714014053344727 with a final error of 3.0050676286919042e-05\n", + "Frame 6 done in 0.027683019638061523 with a final error of 1.837674790294841e-05\n", + "Frame 7 done in 0.02848505973815918 with a final error of 8.354975761903916e-06\n", + "Frame 8 done in 0.027895212173461914 with a final error of 7.354761692113243e-06\n", + "Frame 9 done in 0.029622793197631836 with a final error of 5.4347701734513976e-06\n", + "Frame 10 done in 0.03020620346069336 with a final error of 3.1100214982870966e-05\n", + "Flattened array shape: (10,)\n", + "Mean: 1.4871539860905614e-05\n", + "Standard deviation: 9.088475053431466e-06\n", + "starting offset optimization\n", + "Begining offset optimization:\n", + "Final error of 0.0006523464107885957\n", + "offset optimization finished in 0.018471956253051758\n", + "Calibration iteration: 4/6\n", + "Pose Optimization:\n", + "Pose Optimization done in 0.2660050392150879\n", + "Frame 1 done in 0.02883601188659668 with a final error of 2.205053715442773e-05\n", + "Frame 2 done in 0.027754783630371094 with a final error of 2.3906379283289425e-05\n", + "Frame 3 done in 0.02768397331237793 with a final error of 1.729781251924578e-05\n", + "Frame 4 done in 0.027714967727661133 with a final error of 6.905936970724724e-06\n", + "Frame 5 done in 0.029285907745361328 with a final error of 6.520999704662245e-06\n", + "Frame 6 done in 0.02929997444152832 with a final error of 1.044065265887184e-05\n", + "Frame 7 done in 0.02916407585144043 with a final error of 7.1059494075598195e-06\n", + "Frame 8 done in 0.027601957321166992 with a final error of 4.01246506953612e-06\n", + "Frame 9 done in 0.010566234588623047 with a final error of 8.094839358818717e-06\n", + "Frame 10 done in 0.0279238224029541 with a final error of 5.843391136295395e-06\n", + "Flattened array shape: (10,)\n", + "Mean: 1.1217895917070564e-05\n", + "Standard deviation: 6.81199071550509e-06\n", + "starting offset optimization\n", + "Begining offset optimization:\n", + "Final error of 0.0008061480475589633\n", + "offset optimization finished in 0.01714801788330078\n", + "Calibration iteration: 5/6\n", + "Pose Optimization:\n", + "Pose Optimization done in 0.24892210960388184\n", + "Frame 1 done in 0.026957988739013672 with a final error of 1.7644156287133228e-06\n", + "Frame 2 done in 0.026444196701049805 with a final error of 2.948524706880562e-05\n", + "Frame 3 done in 0.026600122451782227 with a final error of 2.8597663913387805e-05\n", + "Frame 4 done in 0.026521921157836914 with a final error of 1.693754347797949e-05\n", + "Frame 5 done in 0.026439189910888672 with a final error of 7.489315066777635e-06\n", + "Frame 6 done in 0.026362895965576172 with a final error of 1.797505137801636e-05\n", + "Frame 7 done in 0.026512861251831055 with a final error of 1.1738387001969386e-05\n", + "Frame 8 done in 0.026935100555419922 with a final error of 3.4613351544976467e-06\n", + "Frame 9 done in 0.00953221321105957 with a final error of 5.871419489267282e-06\n", + "Frame 10 done in 0.026439905166625977 with a final error of 4.68022972199833e-06\n", + "Flattened array shape: (10,)\n", + "Mean: 1.2800061085727066e-05\n", + "Standard deviation: 9.61314253800083e-06\n", + "starting offset optimization\n", + "Begining offset optimization:\n", + "Final error of 0.0008939061663113534\n", + "offset optimization finished in 0.016668081283569336\n", + "Calibration iteration: 6/6\n", + "Pose Optimization:\n", + "Pose Optimization done in 0.2607898712158203\n", + "Frame 1 done in 0.026535987854003906 with a final error of 4.91184482598328e-06\n", + "Frame 2 done in 0.025732994079589844 with a final error of 4.213423380861059e-06\n", + "Frame 3 done in 0.02575516700744629 with a final error of 1.410570530424593e-05\n", + "Frame 4 done in 0.02573108673095703 with a final error of 1.2994731150683947e-05\n", + "Frame 5 done in 0.02574896812438965 with a final error of 1.4421345440496225e-05\n", + "Frame 6 done in 0.025803804397583008 with a final error of 1.1991121937171556e-05\n", + "Frame 7 done in 0.02590203285217285 with a final error of 5.676869477611035e-06\n", + "Frame 8 done in 0.026231050491333008 with a final error of 9.357620001537725e-06\n", + "Frame 9 done in 0.025838136672973633 with a final error of 4.746553258883068e-06\n", + "Frame 10 done in 0.027341842651367188 with a final error of 3.5478835798130604e-06\n", + "Flattened array shape: (10,)\n", + "Mean: 8.596710358688142e-06\n", + "Standard deviation: 4.211297436995665e-06\n", + "starting offset optimization\n", + "Begining offset optimization:\n", + "Final error of 0.0009413688676431775\n", + "offset optimization finished in 0.017334699630737305\n", + "Final pose optimization\n", + "Pose Optimization:\n", + "Pose Optimization done in 0.2668731212615967\n", + "Frame 1 done in 0.027530908584594727 with a final error of 3.339833483551047e-06\n", + "Frame 2 done in 0.026302099227905273 with a final error of 5.81361973672756e-06\n", + "Frame 3 done in 0.026290178298950195 with a final error of 1.3134792425262276e-05\n", + "Frame 4 done in 0.02638387680053711 with a final error of 1.295702259085374e-05\n", + "Frame 5 done in 0.02702498435974121 with a final error of 1.4758122233615723e-05\n", + "Frame 6 done in 0.027264118194580078 with a final error of 1.241929658135632e-05\n", + "Frame 7 done in 0.02644801139831543 with a final error of 1.0499762538529467e-05\n", + "Frame 8 done in 0.027077674865722656 with a final error of 4.285193426767364e-06\n", + "Frame 9 done in 0.02621912956237793 with a final error of 7.278669727384113e-06\n", + "Frame 10 done in 0.026165008544921875 with a final error of 4.782757969223894e-06\n", + "Flattened array shape: (10,)\n", + "Mean: 8.926907867135014e-06\n", + "Standard deviation: 4.061600520799402e-06\n" + ] } ], "source": [ diff --git a/demos/viz_usage.ipynb b/demos/viz_usage.ipynb index e4dfe0e..51adcc3 100644 --- a/demos/viz_usage.ipynb +++ b/demos/viz_usage.ipynb @@ -42,15 +42,13 @@ "os.environ['XLA_PYTHON_CLIENT_PREALLOCATE'] = \"false\" \n", "\n", "base_path = Path.cwd().parent\n", - "stac_config_path = base_path / \"demos/demo_stac.yaml\"\n", - "model_config_path = base_path / \"configs/rodent.yaml\"\n", "\n", - "stac_cfg, model_cfg = stac_mjx.load_configs(stac_config_path, model_config_path)" + "cfg = stac_mjx.load_configs(base_path / \"configs\")" ] }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 2, "metadata": { "tags": [] }, @@ -59,14 +57,16 @@ "name": "stderr", "output_type": "stream", "text": [ - "250it [00:04, 51.98it/s]\n" + "0it [00:00, ?it/s]/Users/charleszhang/miniforge3/envs/stac-mjx-env/lib/python3.11/subprocess.py:1885: RuntimeWarning: os.fork() was called. os.fork() is incompatible with multithreaded code, and JAX is multithreaded, so this will likely lead to a deadlock.\n", + " self.pid = _fork_exec(\n", + "10it [00:02, 4.36it/s]\n" ] }, { "data": { "text/html": [ "
" ], @@ -80,15 +80,15 @@ ], "source": [ "# set args\n", - "data_path = base_path / \"fit_rodent_8_29.p\"\n", - "n_frames = 250\n", + "data_path = base_path / \"demo_fit.p\"\n", + "n_frames = 10\n", "save_path = base_path / \"videos/direct_render.mp4\"\n", "\n", "# Call mujoco_viz\n", - "frames = stac_mjx.viz_stac(data_path, stac_cfg, model_cfg, n_frames, save_path, start_frame=0, camera=\"close_profile\", base_path=Path.cwd().parent)\n", + "frames = stac_mjx.viz_stac(data_path, cfg, n_frames, save_path, start_frame=0, camera=\"close_profile\", base_path=Path.cwd().parent)\n", "\n", "# Show the video in the notebook (it is also saved to the save_path)\n", - "media.show_video(frames, fps=model_cfg[\"RENDER_FPS\"])" + "media.show_video(frames, fps=cfg.model.RENDER_FPS)" ] }, { diff --git a/stac_mjx/utils.py b/stac_mjx/utils.py index e6700f8..a3a04a3 100755 --- a/stac_mjx/utils.py +++ b/stac_mjx/utils.py @@ -24,7 +24,7 @@ def enable_xla_flags(): ) -def load_data(cfg: DictConfig, base_path: Path = Path.cwd(), label3d_path=None): +def load_data(cfg: DictConfig, base_path: Path = Path.cwd()): """Main mocap data file loader interface. Loads mocap file based on filetype, and returns the data flattened @@ -49,6 +49,7 @@ def load_data(cfg: DictConfig, base_path: Path = Path.cwd(), label3d_path=None): file_path = base_path / cfg.stac.data_path # using pathlib if file_path.suffix == ".mat": + label3d_path = cfg.model.get("KP_NAMES_LABEL3D_PATH", None) data, kp_names = load_dannce(str(file_path), names_filename=label3d_path) elif file_path.suffix == ".nwb": data, kp_names = load_nwb(file_path) diff --git a/stac_mjx/viz.py b/stac_mjx/viz.py index dc0e758..a46f5ea 100644 --- a/stac_mjx/viz.py +++ b/stac_mjx/viz.py @@ -10,8 +10,7 @@ def viz_stac( data_path: Union[Path, str], - stac_cfg: DictConfig, - model_cfg: Dict, + cfg: DictConfig, n_frames: int, save_path: Union[Path, str], start_frame: int = 0, @@ -24,8 +23,7 @@ def viz_stac( Args: data_path (Union[Path, str]): Path to stac output pickle file - stac_cfg (DictConfig): stac_cfg file - model_cfg (Dict): model_cfg file + cfg (DictConfig): configs n_frames (int): number of frames to render save_path (Union[Path, str]): Path to save rendered video (.mp4) start_frame (int, optional): Starting rendering frame. Defaults to 0. @@ -37,7 +35,7 @@ def viz_stac( Returns: (List): List of frames """ - xml_path = base_path / model_cfg["MJCF_PATH"] + xml_path = base_path / cfg.model.MJCF_PATH # Load data with open(data_path, "rb") as file: @@ -49,7 +47,7 @@ def viz_stac( # initialize STAC to create mj_model with scaling and marker body sites according to config # Set the learned offsets for body sites manually - stac = STAC(xml_path, stac_cfg, model_cfg, kp_names) + stac = STAC(xml_path, cfg, kp_names) return stac.render( qposes, kp_data, diff --git a/tests/configs/config.yaml b/tests/configs/config.yaml new file mode 100644 index 0000000..fbd5bdb --- /dev/null +++ b/tests/configs/config.yaml @@ -0,0 +1,4 @@ +defaults: + - stac: test_stac + - model: test_rodent + - _self_ \ No newline at end of file diff --git a/tests/data/test_rodent.yaml b/tests/configs/model/test_rodent.yaml similarity index 100% rename from tests/data/test_rodent.yaml rename to tests/configs/model/test_rodent.yaml diff --git a/tests/data/test_rodent_label3d.yaml b/tests/configs/model/test_rodent_label3d.yaml similarity index 100% rename from tests/data/test_rodent_label3d.yaml rename to tests/configs/model/test_rodent_label3d.yaml diff --git a/tests/data/test_rodent_less_kp_names.yaml b/tests/configs/model/test_rodent_less_kp_names.yaml similarity index 100% rename from tests/data/test_rodent_less_kp_names.yaml rename to tests/configs/model/test_rodent_less_kp_names.yaml diff --git a/tests/data/test_rodent_no_kp_names.yaml b/tests/configs/model/test_rodent_no_kp_names.yaml similarity index 99% rename from tests/data/test_rodent_no_kp_names.yaml rename to tests/configs/model/test_rodent_no_kp_names.yaml index b4309d8..20c9780 100644 --- a/tests/data/test_rodent_no_kp_names.yaml +++ b/tests/configs/model/test_rodent_no_kp_names.yaml @@ -4,7 +4,7 @@ MJCF_PATH: "models/rodent.xml" N_FRAMES_PER_CLIP: 360 # No KP_NAMES -# KP_NAMES: +KP_NAMES: # The model sites used to register the keypoints. KEYPOINT_MODEL_PAIRS: diff --git a/tests/data/test_stac.yaml b/tests/configs/stac/test_stac.yaml similarity index 100% rename from tests/data/test_stac.yaml rename to tests/configs/stac/test_stac.yaml diff --git a/tests/conftest.py b/tests/conftest.py index 4f1dd79..70f01c1 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -1,3 +1,4 @@ """Provide fixtures for the entire parent directory.""" from tests.fixtures.datasets import * +from tests.fixtures.configs import * diff --git a/tests/data/points3d_00_scaleSmooth_1_rpt_15.h5 b/tests/data/points3d_00_scaleSmooth_1_rpt_15.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2ebf1ac28a5f3ff549db428b41ae3077fe99675c GIT binary patch literal 2760589 zcmeFYb#NR>voC5{WHB?d#mvlLF*7qWgT>5jG23Ehu$Y;dHDZ=VG}7DscK4hU_q~XB z(o< z|5qU(B`&P^=LKv2ebxU|>B!%8_751Y&PFCSE`L_iUnKRj3;vPmPZIjX2KR~W~Ff9L-U{?|0% zJ`w*%0Q)=PU-JX|WNKz^YvgM7m(d?lzWibLCxL&4^o0D6^r`O;mp{E={`mgM|C0{+ 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