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