
🟢 Starting Calibration Pipeline

=== Processing MDC103_W050_2025-05-07 ===

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                        Step 1: Digitization                       
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[🔄] Full PTD mode: Processing ALL images then creating calibration subset
[📸] Digitizing ALL images...
[📸] Full dataset mode: Processing ALL images (no debug visualizations)
[INFO] Found 2 las0.zip files to process
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                                                                         [A📁 Processing Rigs: 100%|██████████| 2/2 [04:45<00:00, 143.11s/it]📁 Processing Rigs: 100%|██████████| 2/2 [04:45<00:00, 142.75s/it]
[💾] Saved RigFrameDataset to /working/MDC103_W050_2025-05-07/calibration/debug/1_digitized_full/rig_frames_full.json
[✅] Saved full dataset: 2348 frames from 2 rigs to /working/MDC103_W050_2025-05-07/calibration/debug/1_digitized_full/rig_frames_full.json
[💾] Saved RigFrameDataset to /working/MDC103_W050_2025-05-07/calibration/debug/1_digitized_full/rig_frames_full.json
[📋] Creating calibration subset (100 frames/rig) with visualizations...
[📋] 500: 100 frames selected from 1153
[📋] 1000: 100 frames selected from 1195
[💾] Saved RigFrameDataset to /working/MDC103_W050_2025-05-07/calibration/debug/1_digitized/rig_frames.json
[INFO] Reloading dataset from disk to ensure clean state for multiprocessing...
[📂] Loaded RigFrameDataset from /working/MDC103_W050_2025-05-07/calibration/debug/1_digitized/rig_frames.json

-------------------------------------------------------------------
                        Step 2: Calibration                        
-------------------------------------------------------------------

-> Calculating the casing center ...
[INFO] Using 40 total sampled bright frames
Averaging bright frames:   0%|          | 0/40 [00:00<?, ?it/s]Averaging bright frames:  10%|█         | 4/40 [00:00<00:01, 33.53it/s]Averaging bright frames:  22%|██▎       | 9/40 [00:00<00:00, 40.89it/s]Averaging bright frames:  35%|███▌      | 14/40 [00:00<00:00, 43.91it/s]Averaging bright frames:  48%|████▊     | 19/40 [00:00<00:00, 45.00it/s]Averaging bright frames:  60%|██████    | 24/40 [00:00<00:00, 45.81it/s]Averaging bright frames:  72%|███████▎  | 29/40 [00:00<00:00, 45.97it/s]Averaging bright frames:  85%|████████▌ | 34/40 [00:00<00:00, 46.58it/s]Averaging bright frames:  98%|█████████▊| 39/40 [00:00<00:00, 46.59it/s]                                                                        Total time to process (v2): 0.05
[RESULT] Combined: Center=(1016, 756), Radius=835
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[00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.000 | Best: {'fx': 349.495} (0.000):  20%|██        | 20/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.000 | Best: {'fx': 349.495} (0.000):  21%|██        | 21/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.000 | Best: {'fx': 349.495} (0.000):  22%|██▏       | 22/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.000 | Best: {'fx': 349.495} (0.000):  23%|██▎       | 23/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.000 | Best: {'fx': 349.495} (0.000):  24%|██▍       | 24/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.001 | Best: {'fx': 476.768} (0.001):  25%|██▌       | 25/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.002 | Best: {'fx': 490.909} (0.002):  26%|██▌       | 26/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.002 | Best: {'fx': 490.909} (0.002):  27%|██▋       | 27/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.055 | Best: {'fx': 526.263} (0.055):  28%|██▊       | 28/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.003 | Best: {'fx': 526.263} (0.055):  29%|██▉       | 29/100 [00:00<00:00, 99.18it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.003 | Best: {'fx': 526.263} (0.055):  30%|███       | 30/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.006 | Best: {'fx': 526.263} (0.055):  30%|███       | 30/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.043 | Best: {'fx': 526.263} (0.055):  31%|███       | 31/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.034 | Best: {'fx': 526.263} (0.055):  32%|███▏      | 32/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.065 | Best: {'fx': 533.333} (0.065):  33%|███▎      | 33/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.020 | Best: {'fx': 533.333} (0.065):  34%|███▍      | 34/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.017 | Best: {'fx': 533.333} (0.065):  35%|███▌      | 35/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.031 | Best: {'fx': 533.333} (0.065):  36%|███▌      | 36/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.019 | Best: {'fx': 533.333} (0.065):  37%|███▋      | 37/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.016 | Best: {'fx': 533.333} (0.065):  38%|███▊      | 38/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.015 | Best: {'fx': 533.333} (0.065):  39%|███▉      | 39/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.024 | Best: {'fx': 533.333} (0.065):  40%|████      | 40/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.021 | Best: {'fx': 533.333} (0.065):  41%|████      | 41/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.013 | Best: {'fx': 533.333} (0.065):  42%|████▏     | 42/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.013 | Best: {'fx': 533.333} (0.065):  43%|████▎     | 43/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.014 | Best: {'fx': 533.333} (0.065):  44%|████▍     | 44/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.012 | Best: {'fx': 533.333} (0.065):  45%|████▌     | 45/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.012 | Best: {'fx': 533.333} (0.065):  46%|████▌     | 46/100 [00:00<00:00, 102.53it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.012 | Best: {'fx': 533.333} (0.065):  47%|████▋     | 47/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.012 | Best: {'fx': 533.333} (0.065):  47%|████▋     | 47/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.011 | Best: {'fx': 533.333} (0.065):  48%|████▊     | 48/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.011 | Best: {'fx': 533.333} (0.065):  49%|████▉     | 49/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.011 | Best: {'fx': 533.333} (0.065):  50%|█████     | 50/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.010 | Best: {'fx': 533.333} (0.065):  51%|█████     | 51/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.011 | Best: {'fx': 533.333} (0.065):  52%|█████▏    | 52/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.011 | Best: {'fx': 533.333} (0.065):  53%|█████▎    | 53/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.010 | Best: {'fx': 533.333} (0.065):  54%|█████▍    | 54/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.011 | Best: {'fx': 533.333} (0.065):  55%|█████▌    | 55/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.010 | Best: {'fx': 533.333} (0.065):  56%|█████▌    | 56/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.010 | Best: {'fx': 533.333} (0.065):  57%|█████▋    | 57/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.010 | Best: {'fx': 533.333} (0.065):  58%|█████▊    | 58/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.010 | Best: {'fx': 533.333} (0.065):  59%|█████▉    | 59/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.010 | Best: {'fx': 533.333} (0.065):  60%|██████    | 60/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.010 | Best: {'fx': 533.333} (0.065):  61%|██████    | 61/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  62%|██████▏   | 62/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  63%|██████▎   | 63/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.010 | Best: {'fx': 533.333} (0.065):  64%|██████▍   | 64/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  65%|██████▌   | 65/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  66%|██████▌   | 66/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  67%|██████▋   | 67/100 [00:00<00:00, 123.75it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  68%|██████▊   | 68/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  68%|██████▊   | 68/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  69%|██████▉   | 69/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  70%|███████   | 70/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  71%|███████   | 71/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  72%|███████▏  | 72/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  73%|███████▎  | 73/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  74%|███████▍  | 74/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  75%|███████▌  | 75/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  76%|███████▌  | 76/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  77%|███████▋  | 77/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  78%|███████▊  | 78/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  79%|███████▉  | 79/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  80%|████████  | 80/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  81%|████████  | 81/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  82%|████████▏ | 82/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  83%|████████▎ | 83/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  84%|████████▍ | 84/100 [00:00<00:00, 151.79it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  85%|████████▌ | 85/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  85%|████████▌ | 85/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  86%|████████▌ | 86/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  87%|████████▋ | 87/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  88%|████████▊ | 88/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  89%|████████▉ | 89/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  90%|█████████ | 90/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  91%|█████████ | 91/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  92%|█████████▏| 92/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  93%|█████████▎| 93/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  94%|█████████▍| 94/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  95%|█████████▌| 95/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  96%|█████████▌| 96/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  97%|█████████▋| 97/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  98%|█████████▊| 98/100 [00:00<00:00, 156.34it/s]Brute | Start: {'fx': 500.0} (0.003) | Current: 0.009 | Best: {'fx': 533.333} (0.065):  99%|█████████▉| 99/100 [00:00<00:00, 156.34it/s]                                                                                                                                          0%|          | 0/50 [00:00<?, ?it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.011 | Best: {'fx': 508.333} (0.011):   0%|          | 0/50 [00:00<?, ?it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.011 | Best: {'fx': 508.333} (0.011):   2%|▏         | 1/50 [00:00<00:05,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.013 | Best: {'fx': 509.354} (0.013):   2%|▏         | 1/50 [00:00<00:05,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.024 | Best: {'fx': 513.435} (0.024):   4%|▍         | 2/50 [00:00<00:05,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.017 | Best: {'fx': 513.435} (0.024):   6%|▌         | 3/50 [00:00<00:05,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.019 | Best: {'fx': 513.435} (0.024):   8%|▊         | 4/50 [00:00<00:05,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.020 | Best: {'fx': 513.435} (0.024):  10%|█         | 5/50 [00:00<00:05,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.033 | Best: {'fx': 518.537} (0.033):  12%|█▏        | 6/50 [00:00<00:05,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.025 | Best: {'fx': 518.537} (0.033):  14%|█▍        | 7/50 [00:00<00:04,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.028 | Best: {'fx': 518.537} (0.033):  16%|█▌        | 8/50 [00:00<00:04,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.027 | Best: {'fx': 518.537} (0.033):  18%|█▊        | 9/50 [00:00<00:04,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.039 | Best: {'fx': 520.578} (0.039):  20%|██        | 10/50 [00:00<00:04,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.047 | Best: {'fx': 522.619} (0.047):  22%|██▏       | 11/50 [00:00<00:04,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.032 | Best: {'fx': 522.619} (0.047):  24%|██▍       | 12/50 [00:00<00:04,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.036 | Best: {'fx': 522.619} (0.047):  26%|██▌       | 13/50 [00:00<00:04,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.041 | Best: {'fx': 522.619} (0.047):  28%|██▊       | 14/50 [00:00<00:04,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.048 | Best: {'fx': 523.639} (0.048):  30%|███       | 15/50 [00:00<00:04,  8.73it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.048 | Best: {'fx': 523.639} (0.048):  32%|███▏      | 16/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.051 | Best: {'fx': 524.66} (0.051):  32%|███▏      | 16/50 [00:00<00:00, 80.43it/s] Brute | Start: {'fx': 533.333} (0.065) | Current: 0.052 | Best: {'fx': 525.68} (0.052):  34%|███▍      | 17/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.065 | Best: {'fx': 529.762} (0.065):  36%|███▌      | 18/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.056 | Best: {'fx': 529.762} (0.065):  38%|███▊      | 19/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.074 | Best: {'fx': 531.803} (0.074):  40%|████      | 20/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.060 | Best: {'fx': 531.803} (0.074):  42%|████▏     | 21/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.069 | Best: {'fx': 531.803} (0.074):  44%|████▍     | 22/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.062 | Best: {'fx': 531.803} (0.074):  46%|████▌     | 23/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.069 | Best: {'fx': 531.803} (0.074):  48%|████▊     | 24/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.067 | Best: {'fx': 531.803} (0.074):  50%|█████     | 25/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.055 | Best: {'fx': 531.803} (0.074):  52%|█████▏    | 26/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.050 | Best: {'fx': 531.803} (0.074):  54%|█████▍    | 27/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.063 | Best: {'fx': 531.803} (0.074):  56%|█████▌    | 28/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.048 | Best: {'fx': 531.803} (0.074):  58%|█████▊    | 29/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.039 | Best: {'fx': 531.803} (0.074):  60%|██████    | 30/50 [00:00<00:00, 80.43it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.039 | Best: {'fx': 531.803} (0.074):  62%|██████▏   | 31/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.054 | Best: {'fx': 531.803} (0.074):  62%|██████▏   | 31/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.037 | Best: {'fx': 531.803} (0.074):  64%|██████▍   | 32/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.041 | Best: {'fx': 531.803} (0.074):  66%|██████▌   | 33/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.043 | Best: {'fx': 531.803} (0.074):  68%|██████▊   | 34/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.030 | Best: {'fx': 531.803} (0.074):  70%|███████   | 35/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.030 | Best: {'fx': 531.803} (0.074):  72%|███████▏  | 36/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.036 | Best: {'fx': 531.803} (0.074):  74%|███████▍  | 37/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.034 | Best: {'fx': 531.803} (0.074):  76%|███████▌  | 38/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.032 | Best: {'fx': 531.803} (0.074):  78%|███████▊  | 39/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.024 | Best: {'fx': 531.803} (0.074):  80%|████████  | 40/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.029 | Best: {'fx': 531.803} (0.074):  82%|████████▏ | 41/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.028 | Best: {'fx': 531.803} (0.074):  84%|████████▍ | 42/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.027 | Best: {'fx': 531.803} (0.074):  86%|████████▌ | 43/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.026 | Best: {'fx': 531.803} (0.074):  88%|████████▊ | 44/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.026 | Best: {'fx': 531.803} (0.074):  90%|█████████ | 45/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.025 | Best: {'fx': 531.803} (0.074):  92%|█████████▏| 46/50 [00:00<00:00, 106.38it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.025 | Best: {'fx': 531.803} (0.074):  94%|█████████▍| 47/50 [00:00<00:00, 125.85it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.023 | Best: {'fx': 531.803} (0.074):  94%|█████████▍| 47/50 [00:00<00:00, 125.85it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.023 | Best: {'fx': 531.803} (0.074):  96%|█████████▌| 48/50 [00:00<00:00, 125.85it/s]Brute | Start: {'fx': 533.333} (0.065) | Current: 0.023 | Best: {'fx': 531.803} (0.074):  98%|█████████▊| 49/50 [00:00<00:00, 125.85it/s]                                                                                                                                         
[DEBUG] Parameters after Step 5 (before square optimization):
    fx: 531.8027210884354
    px: 1016.0
    py: 756.0
    k1: 0.0
    k2: 0.0
    k3: 0.0
    k4: 0.0
    p1: 0.0
    p2: 0.0
    p3: 0.0
    p4: 0.0
    scale: 3.0
    rotation: 0.0


[🔲] Square Reference Optimization
    Including tangential distortion parameters (p1, p2, p3, p4) in joint optimization
  Selecting up to 7 frames per rig (excluded 0 incomplete frames): 7 frames will be used for optimization
  Rigs: 1000(1000mm):7/20
  Total: 7/20 frames used for optimization
Initial score: 29.9101: 0iter [00:00, ?iter/s]Initial score: 29.9101: 1iter [00:01,  1.08s/iter]Initial score: 29.9101: 2iter [00:01,  1.36iter/s]Initial score: 29.9101: 3iter [00:02,  1.57iter/s]Initial score: 29.9101: 4iter [00:02,  1.75iter/s]Initial score: 29.9101: 5iter [00:03,  1.79iter/s]Initial score: 29.9101: 6iter [00:03,  1.86iter/s]Initial score: 29.9101: 7iter [00:04,  1.99iter/s]Initial score: 29.9101: 8iter [00:04,  1.94iter/s]Initial score: 29.9101: 9iter [00:05,  1.95iter/s]Initial score: 29.9101: 10iter [00:05,  1.91iter/s]Initial score: 29.9101: 11iter [00:06,  1.99iter/s]Initial score: 29.9101: 12iter [00:06,  1.96iter/s]Initial score: 29.9101: 13iter [00:07,  1.95iter/s]Initial score: 29.9101: 14iter [00:07,  2.03iter/s]Initial score: 29.9101: 15iter [00:08,  1.96iter/s]Initial score: 29.9101: 16iter [00:08,  1.83iter/s]Initial score: 29.9101: 17iter [00:09,  1.89iter/s]Initial score: 29.9101: 18iter [00:09,  1.89iter/s]Initial score: 29.9101: 19iter [00:10,  1.92iter/s]Initial score: 29.9101: 20iter [00:10,  1.92iter/s]Initial score: 29.9101: 21iter [00:11,  1.95iter/s]Initial score: 29.9101: 22iter [00:11,  1.93iter/s]Initial score: 29.9101: 23iter [00:12,  1.93iter/s]Initial score: 29.9101: 24iter [00:12,  1.89iter/s]Initial score: 29.9101: 25iter [00:13,  1.93iter/s]Initial score: 29.9101: 26iter [00:13,  1.97iter/s]Initial score: 29.9101: 27iter [00:14,  1.87iter/s]Initial score: 29.9101: 28iter [00:14,  1.89iter/s]Initial score: 29.9101: 29iter [00:15,  1.88iter/s]Initial score: 29.9101: 30iter [00:16,  1.91iter/s]Initial score: 29.9101: 31iter [00:16,  1.87iter/s]Initial score: 29.9101: 32iter [00:17,  1.89iter/s]Initial score: 29.9101: 33iter [00:17,  1.92iter/s]Initial score: 29.9101: 34iter [00:18,  1.90iter/s]Initial score: 29.9101: 35iter [00:18,  1.96iter/s]Best score: 10.1364: : 35iter [00:19,  1.96iter/s] Best score: 10.1364: : 36iter [00:19,  2.02iter/s]Best score: 10.1364: : 37iter [00:19,  1.92iter/s]Best score: 10.1364: : 38iter [00:20,  1.89iter/s]Best score: 10.1364: : 39iter [00:20,  1.95iter/s]Best score: 10.1364: : 40iter [00:21,  1.94iter/s]Best score: 10.1364: : 41iter [00:21,  1.97iter/s]Best score: 10.1364: : 42iter [00:22,  2.01iter/s]Best score: 10.1364: : 43iter [00:22,  2.00iter/s]Best score: 10.1364: : 44iter [00:23,  1.96iter/s]Best score: 10.1364: : 45iter [00:23,  1.88iter/s]Best score: 10.1364: : 46iter [00:24,  1.95iter/s]Best score: 10.1364: : 47iter [00:24,  2.00iter/s]Best score: 10.1364: : 48iter [00:25,  1.99iter/s]Best score: 10.1364: : 49iter [00:25,  2.01iter/s]
[ITER 50] Current best score: 10.1364
[PARAMS] Current best parameters:
  fx: 545.4842
  fy: 543.4878
  px: 1008.6126
  py: 761.6471
  k1: -0.00444379
  k2: 0.02258087
  k3: -0.03051632
  k4: 0.00918376
  p1: 0.00432907
  p2: -0.00600490
  p3: -0.00056166
  p4: 0.00056412
  scale: 2.9089
  rotation: -0.1479
Best score: 10.1364: : 50iter [00:26,  2.02iter/s]Best score: 10.1364: : 51iter [00:26,  1.98iter/s]Best score: 10.1364: : 52iter [00:27,  1.91iter/s]Best score: 10.1364: : 53iter [00:27,  1.95iter/s]Best score: 10.1364: : 54iter [00:28,  1.97iter/s]Best score: 10.1364: : 55iter [00:28,  1.91iter/s]Best score: 10.1364: : 56iter [00:29,  2.01iter/s]Best score: 10.1364: : 57iter [00:29,  1.92iter/s]Best score: 10.1364: : 58iter [00:30,  1.93iter/s]Best score: 10.1364: : 59iter [00:30,  1.99iter/s]Best score: 10.1364: : 60iter [00:31,  1.94iter/s]Best score: 10.1364: : 61iter [00:31,  1.96iter/s]Best score: 10.1364: : 62iter [00:32,  1.96iter/s]Best score: 10.1364: : 63iter [00:32,  1.89iter/s]Best score: 10.1364: : 64iter [00:33,  1.86iter/s]Best score: 10.1364: : 65iter [00:34,  1.86iter/s]Best score: 10.1364: : 66iter [00:34,  1.96iter/s]Best score: 10.1364: : 67iter [00:35,  1.89iter/s]Best score: 10.1364: : 68iter [00:35,  1.94iter/s]Best score: 10.1364: : 69iter [00:36,  1.90iter/s]Best score: 10.1364: : 70iter [00:36,  1.88iter/s]Best score: 10.1364: : 71iter [00:37,  1.94iter/s]Best score: 10.1364: : 72iter [00:37,  1.99iter/s]Best score: 10.1364: : 73iter [00:38,  1.96iter/s]Best score: 10.1364: : 74iter [00:38,  1.98iter/s]Best score: 10.1364: : 75iter [00:39,  2.00iter/s]Best score: 10.1364: : 76iter [00:39,  1.99iter/s]Best score: 10.1364: : 77iter [00:40,  1.96iter/s]Best score: 10.1364: : 78iter [00:40,  1.94iter/s]Best score: 10.1364: : 79iter [00:41,  1.96iter/s]Best score: 10.1364: : 80iter [00:41,  1.94iter/s]Best score: 10.1364: : 81iter [00:42,  1.97iter/s]Best score: 5.2566: : 81iter [00:42,  1.97iter/s] Best score: 5.2566: : 82iter [00:42,  1.97iter/s]Best score: 5.2566: : 83iter [00:43,  1.91iter/s]Best score: 5.2566: : 84iter [00:43,  1.98iter/s]Best score: 5.2566: : 85iter [00:44,  2.00iter/s]Best score: 5.2566: : 86iter [00:44,  1.99iter/s]Best score: 5.2566: : 87iter [00:45,  1.98iter/s]Best score: 5.2566: : 88iter [00:45,  1.92iter/s]Best score: 5.2566: : 89iter [00:46,  1.94iter/s]Best score: 5.2566: : 90iter [00:46,  2.01iter/s]Best score: 5.2566: : 91iter [00:47,  1.95iter/s]Best score: 5.2566: : 92iter [00:47,  1.92iter/s]Best score: 5.2566: : 93iter [00:48,  2.02iter/s]Best score: 5.2566: : 94iter [00:48,  2.04iter/s]Best score: 5.2566: : 95iter [00:49,  1.94iter/s]Best score: 5.2566: : 96iter [00:49,  1.88iter/s]Best score: 5.2566: : 97iter [00:50,  1.86iter/s]Best score: 5.2566: : 98iter [00:50,  1.88iter/s]Best score: 5.2566: : 99iter [00:51,  1.85iter/s]
[ITER 100] Current best score: 5.2566
[PARAMS] Current best parameters:
  fx: 546.3543
  fy: 543.5683
  px: 1009.3330
  py: 761.0785
  k1: -0.00598090
  k2: 0.03188248
  k3: -0.03391032
  k4: 0.00826879
  p1: 0.00534617
  p2: -0.00569705
  p3: 0.00075078
  p4: -0.00221120
  scale: 2.8763
  rotation: -0.4185
Best score: 5.2566: : 100iter [00:52,  1.83iter/s]Best score: 5.2566: : 101iter [00:52,  1.88iter/s]Best score: 5.2566: : 102iter [00:53,  1.85iter/s]Best score: 5.2566: : 103iter [00:53,  1.90iter/s]Best score: 5.2566: : 104iter [00:54,  1.93iter/s]Best score: 5.2566: : 105iter [00:54,  1.90iter/s]Best score: 5.2566: : 106iter [00:55,  1.95iter/s]Best score: 3.4755: : 106iter [00:55,  1.95iter/s]Best score: 3.4755: : 107iter [00:55,  1.92iter/s]Best score: 3.4755: : 108iter [00:56,  1.88iter/s]Best score: 1.5618: : 108iter [00:56,  1.88iter/s]Best score: 1.5618: : 109iter [00:56,  1.96iter/s]Best score: 1.5618: : 110iter [00:57,  1.90iter/s]Best score: 1.5618: : 111iter [00:57,  1.87iter/s]Best score: 1.5618: : 112iter [00:58,  1.89iter/s]Best score: 1.5618: : 113iter [00:58,  1.90iter/s]Best score: 1.5618: : 114iter [00:59,  1.95iter/s]Best score: 1.5618: : 115iter [00:59,  1.94iter/s]Best score: 1.5618: : 116iter [01:00,  1.96iter/s]Best score: 1.5618: : 117iter [01:00,  1.91iter/s]Best score: 1.5618: : 118iter [01:01,  1.90iter/s]Best score: 1.5618: : 119iter [01:01,  1.90iter/s]Best score: 1.5618: : 120iter [01:02,  1.90iter/s]Best score: 1.5618: : 121iter [01:03,  1.91iter/s]Best score: 1.5618: : 122iter [01:03,  1.95iter/s]Best score: 1.5618: : 123iter [01:04,  1.87iter/s]Best score: 1.5618: : 124iter [01:04,  1.86iter/s]Best score: 1.5618: : 125iter [01:05,  1.94iter/s]Best score: 1.5618: : 126iter [01:05,  1.92iter/s]Best score: 1.5618: : 127iter [01:06,  1.87iter/s]Best score: 1.5618: : 128iter [01:06,  1.93iter/s]Best score: 1.5618: : 129iter [01:07,  1.93iter/s]Best score: 1.5618: : 130iter [01:07,  1.95iter/s]Best score: 1.5618: : 131iter [01:08,  1.98iter/s]Best score: 1.5618: : 132iter [01:08,  1.89iter/s]Best score: 1.5618: : 133iter [01:09,  1.89iter/s]Best score: 1.5618: : 134iter [01:09,  1.90iter/s]Best score: 1.5618: : 135iter [01:10,  1.92iter/s]Best score: 1.5618: : 136iter [01:10,  1.88iter/s]Best score: 1.4028: : 136iter [01:11,  1.88iter/s]Best score: 1.4028: : 137iter [01:11,  2.00iter/s]Best score: 1.4028: : 138iter [01:11,  1.97iter/s]Best score: 1.4028: : 139iter [01:12,  1.97iter/s]Best score: 1.4028: : 140iter [01:12,  1.94iter/s]Best score: 1.4028: : 141iter [01:13,  1.97iter/s]Best score: 1.4028: : 142iter [01:13,  2.00iter/s]Best score: 1.4028: : 143iter [01:14,  1.88iter/s]Best score: 1.4028: : 144iter [01:14,  1.92iter/s]Best score: 1.4028: : 145iter [01:15,  1.93iter/s]Best score: 1.4028: : 146iter [01:15,  1.96iter/s]Best score: 1.4028: : 147iter [01:16,  2.00iter/s]Best score: 1.4028: : 148iter [01:16,  2.05iter/s]Best score: 1.4028: : 149iter [01:17,  1.97iter/s]
[ITER 150] Current best score: 1.4028
[PARAMS] Current best parameters:
  fx: 556.9561
  fy: 556.2984
  px: 1009.4512
  py: 761.5252
  k1: -0.04713546
  k2: 0.04865587
  k3: -0.03264038
  k4: 0.00722311
  p1: 0.00473778
  p2: -0.00683161
  p3: 0.00260536
  p4: 0.00057370
  scale: 2.9972
  rotation: -0.4762
Best score: 1.4028: : 150iter [01:18,  1.92iter/s]Best score: 1.4028: : 151iter [01:18,  1.91iter/s]Best score: 1.4028: : 152iter [01:19,  1.98iter/s]Best score: 1.4028: : 153iter [01:19,  1.93iter/s]Best score: 1.4028: : 154iter [01:20,  1.91iter/s]Best score: 1.4028: : 155iter [01:20,  1.87iter/s]Best score: 1.4028: : 156iter [01:21,  1.86iter/s]Best score: 1.4028: : 157iter [01:21,  1.81iter/s]Best score: 1.4028: : 158iter [01:22,  1.91iter/s]Best score: 1.4028: : 159iter [01:22,  1.92iter/s]Best score: 1.4028: : 160iter [01:23,  1.91iter/s]Best score: 1.4028: : 161iter [01:23,  2.03iter/s]Best score: 1.4028: : 162iter [01:24,  1.90iter/s]Best score: 1.4028: : 163iter [01:24,  1.86iter/s]Best score: 1.4028: : 164iter [01:25,  1.98iter/s]Best score: 1.4028: : 165iter [01:25,  1.99iter/s]Best score: 1.4028: : 166iter [01:26,  1.98iter/s]Best score: 1.4028: : 167iter [01:26,  1.99iter/s]Best score: 1.4028: : 168iter [01:27,  2.05iter/s]Best score: 1.4028: : 169iter [01:27,  2.01iter/s]Best score: 1.4028: : 170iter [01:28,  2.00iter/s]Best score: 1.4028: : 171iter [01:28,  1.96iter/s]Best score: 1.4028: : 172iter [01:29,  1.97iter/s]Best score: 1.4028: : 173iter [01:29,  1.93iter/s]Best score: 1.4028: : 174iter [01:30,  1.99iter/s]Best score: 1.4028: : 175iter [01:30,  1.94iter/s]Best score: 1.4028: : 176iter [01:31,  1.92iter/s]Best score: 1.4028: : 177iter [01:31,  2.01iter/s]Best score: 1.4028: : 178iter [01:32,  2.02iter/s]Best score: 1.4028: : 179iter [01:32,  1.92iter/s]Best score: 1.4028: : 180iter [01:33,  2.05iter/s]Best score: 1.4028: : 181iter [01:33,  1.97iter/s]Best score: 1.4028: : 182iter [01:34,  1.94iter/s]Best score: 1.4028: : 183iter [01:34,  1.98iter/s]Best score: 1.4028: : 184iter [01:35,  1.97iter/s]Best score: 1.4028: : 185iter [01:35,  1.94iter/s]Best score: 1.4028: : 186iter [01:36,  1.93iter/s]Best score: 1.4028: : 187iter [01:37,  1.89iter/s]Best score: 1.4028: : 188iter [01:37,  1.92iter/s]Best score: 1.4028: : 189iter [01:37,  2.02iter/s]Best score: 1.4028: : 190iter [01:38,  2.01iter/s]Best score: 1.4028: : 191iter [01:39,  1.95iter/s]Best score: 1.0200: : 191iter [01:39,  1.95iter/s]Best score: 1.0200: : 192iter [01:39,  1.93iter/s]Best score: 1.0200: : 193iter [01:40,  1.93iter/s]Best score: 1.0200: : 194iter [01:40,  1.95iter/s]Best score: 1.0200: : 195iter [01:41,  1.96iter/s]Best score: 1.0200: : 196iter [01:41,  1.98iter/s]Best score: 1.0200: : 197iter [01:42,  2.01iter/s]Best score: 1.0200: : 198iter [01:42,  1.96iter/s]Best score: 1.0200: : 199iter [01:43,  1.94iter/s]
[ITER 200] Current best score: 1.0200
[PARAMS] Current best parameters:
  fx: 551.4415
  fy: 550.5838
  px: 1010.7118
  py: 761.1030
  k1: -0.03560763
  k2: 0.04294556
  k3: -0.03217710
  k4: 0.00756610
  p1: 0.00418101
  p2: -0.00521014
  p3: 0.00103134
  p4: 0.00078094
  scale: 2.9929
  rotation: -0.4578
Best score: 1.0200: : 200iter [01:43,  1.90iter/s]Best score: 1.0200: : 201iter [01:44,  1.86iter/s]Best score: 1.0200: : 202iter [01:44,  1.96iter/s]Best score: 1.0200: : 203iter [01:45,  1.87iter/s]Best score: 1.0200: : 204iter [01:45,  1.90iter/s]Best score: 1.0200: : 205iter [01:46,  2.01iter/s]Best score: 1.0200: : 206iter [01:46,  1.96iter/s]Best score: 1.0200: : 207iter [01:47,  1.92iter/s]Best score: 1.0200: : 208iter [01:47,  1.96iter/s]Best score: 1.0200: : 209iter [01:48,  1.96iter/s]Best score: 1.0200: : 210iter [01:48,  1.98iter/s]Best score: 1.0200: : 211iter [01:49,  1.96iter/s]Best score: 1.0200: : 212iter [01:49,  1.97iter/s]Best score: 1.0200: : 213iter [01:50,  1.93iter/s]Best score: 1.0200: : 214iter [01:50,  2.06iter/s]Best score: 1.0200: : 215iter [01:51,  1.98iter/s]Best score: 1.0200: : 216iter [01:51,  2.00iter/s]Best score: 1.0200: : 217iter [01:52,  1.92iter/s]Best score: 1.0200: : 218iter [01:52,  1.89iter/s]Best score: 1.0200: : 219iter [01:53,  1.95iter/s]Best score: 1.0200: : 220iter [01:53,  1.93iter/s]Best score: 1.0200: : 221iter [01:54,  1.91iter/s]Best score: 1.0200: : 222iter [01:54,  1.95iter/s]Best score: 1.0200: : 223iter [01:55,  2.00iter/s]Best score: 0.8127: : 223iter [01:55,  2.00iter/s]Best score: 0.8127: : 224iter [01:55,  1.94iter/s]Best score: 0.8127: : 225iter [01:56,  1.95iter/s]Best score: 0.8127: : 226iter [01:56,  1.95iter/s]Best score: 0.8127: : 227iter [01:57,  1.90iter/s]Best score: 0.8127: : 228iter [01:58,  1.85iter/s]Best score: 0.8127: : 229iter [01:58,  1.91iter/s]Best score: 0.8127: : 230iter [01:59,  1.94iter/s]Best score: 0.8127: : 231iter [01:59,  1.92iter/s]Best score: 0.8127: : 232iter [02:00,  1.89iter/s]Best score: 0.8127: : 233iter [02:00,  1.89iter/s]Best score: 0.8127: : 234iter [02:01,  1.86iter/s]Best score: 0.8127: : 235iter [02:01,  1.93iter/s]Best score: 0.8127: : 236iter [02:02,  1.85iter/s]Best score: 0.8127: : 237iter [02:02,  1.88iter/s]Best score: 0.8127: : 238iter [02:03,  1.98iter/s]Best score: 0.8127: : 239iter [02:03,  1.96iter/s]Best score: 0.8127: : 240iter [02:04,  1.95iter/s]Best score: 0.8127: : 241iter [02:04,  2.01iter/s]Best score: 0.8127: : 242iter [02:05,  2.02iter/s]Best score: 0.8127: : 243iter [02:05,  1.91iter/s]Best score: 0.8127: : 244iter [02:06,  1.91iter/s]Best score: 0.8127: : 245iter [02:06,  1.93iter/s]Best score: 0.8127: : 246iter [02:07,  1.93iter/s]Best score: 0.8127: : 247iter [02:07,  1.93iter/s]Best score: 0.8127: : 248iter [02:08,  1.92iter/s]Best score: 0.8127: : 249iter [02:08,  1.96iter/s]
[ITER 250] Current best score: 0.8127
[PARAMS] Current best parameters:
  fx: 554.0377
  fy: 553.0618
  px: 1010.2475
  py: 761.3800
  k1: -0.04523633
  k2: 0.05368806
  k3: -0.03822845
  k4: 0.00883681
  p1: 0.00388573
  p2: -0.00612977
  p3: 0.00239570
  p4: 0.00076437
  scale: 3.0064
  rotation: -0.3532
Best score: 0.8127: : 250iter [02:09,  1.90iter/s]Best score: 0.8127: : 251iter [02:10,  1.92iter/s]Best score: 0.8127: : 252iter [02:10,  1.89iter/s]Best score: 0.8127: : 253iter [02:11,  1.96iter/s]Best score: 0.8127: : 254iter [02:11,  1.91iter/s]Best score: 0.8127: : 255iter [02:12,  1.87iter/s]Best score: 0.8127: : 256iter [02:12,  1.94iter/s]Best score: 0.8127: : 257iter [02:13,  1.97iter/s]Best score: 0.8127: : 258iter [02:13,  1.88iter/s]Best score: 0.8127: : 259iter [02:14,  1.87iter/s]Best score: 0.8127: : 260iter [02:14,  1.90iter/s]Best score: 0.8127: : 261iter [02:15,  1.86iter/s]Best score: 0.8127: : 262iter [02:15,  1.92iter/s]Best score: 0.8127: : 263iter [02:16,  1.91iter/s]Best score: 0.8127: : 264iter [02:16,  1.86iter/s]Best score: 0.8127: : 265iter [02:17,  1.86iter/s]Best score: 0.7484: : 265iter [02:17,  1.86iter/s]Best score: 0.7484: : 266iter [02:17,  1.93iter/s]Best score: 0.7484: : 267iter [02:18,  1.97iter/s]Best score: 0.7484: : 268iter [02:18,  1.93iter/s]Best score: 0.7484: : 269iter [02:19,  1.86iter/s]Best score: 0.7484: : 270iter [02:19,  1.92iter/s]Best score: 0.7484: : 271iter [02:20,  1.92iter/s]Best score: 0.7484: : 272iter [02:20,  1.96iter/s]Best score: 0.7484: : 273iter [02:21,  1.92iter/s]Best score: 0.6740: : 273iter [02:22,  1.92iter/s]Best score: 0.6740: : 274iter [02:22,  1.97iter/s]Best score: 0.6740: : 275iter [02:22,  2.02iter/s]Best score: 0.6094: : 275iter [02:23,  2.02iter/s]Best score: 0.6094: : 276iter [02:23,  1.92iter/s]Best score: 0.6094: : 277iter [02:23,  1.91iter/s]Best score: 0.6094: : 278iter [02:24,  1.96iter/s]Best score: 0.6094: : 279iter [02:24,  1.93iter/s]Best score: 0.6094: : 280iter [02:25,  1.92iter/s]Best score: 0.6094: : 281iter [02:25,  1.86iter/s]Best score: 0.6094: : 282iter [02:26,  1.82iter/s]Best score: 0.6094: : 283iter [02:26,  1.86iter/s]Best score: 0.6094: : 284iter [02:27,  1.92iter/s]Best score: 0.6094: : 285iter [02:27,  1.96iter/s]Best score: 0.6094: : 286iter [02:28,  1.93iter/s]Best score: 0.6094: : 287iter [02:28,  1.99iter/s]Best score: 0.6094: : 288iter [02:29,  1.97iter/s]Best score: 0.6094: : 289iter [02:29,  1.86iter/s]Best score: 0.6094: : 290iter [02:30,  1.89iter/s]Best score: 0.6094: : 291iter [02:30,  1.95iter/s]Best score: 0.6094: : 292iter [02:31,  1.97iter/s]Best score: 0.6094: : 293iter [02:31,  1.90iter/s]Best score: 0.6094: : 294iter [02:32,  1.86iter/s]Best score: 0.6094: : 295iter [02:33,  1.90iter/s]Best score: 0.6094: : 296iter [02:33,  1.90iter/s]Best score: 0.6094: : 297iter [02:34,  1.90iter/s]Best score: 0.6094: : 298iter [02:34,  1.86iter/s]Best score: 0.6094: : 299iter [02:35,  1.91iter/s]
[ITER 300] Current best score: 0.6551
[PARAMS] Current best parameters:
  fx: 534.8602
  fy: 533.9609
  px: 1012.7472
  py: 760.1704
  k1: -0.01572029
  k2: 0.02981193
  k3: -0.02238803
  k4: 0.00496910
  p1: 0.00136399
  p2: -0.00117292
  p3: 0.00675848
  p4: -0.00075563
  scale: 3.0208
  rotation: -0.3037
Best score: 0.6094: : 300iter [02:35,  1.84iter/s]Best score: 0.6094: : 301iter [02:36,  1.90iter/s]Best score: 0.6094: : 302iter [02:36,  1.89iter/s]Best score: 0.6094: : 303iter [02:37,  1.92iter/s]Best score: 0.5227: : 303iter [02:37,  1.92iter/s]Best score: 0.5227: : 304iter [02:37,  1.88iter/s]Best score: 0.5227: : 305iter [02:38,  1.99iter/s]Best score: 0.5227: : 306iter [02:38,  1.98iter/s]Best score: 0.5227: : 307iter [02:39,  2.01iter/s]Best score: 0.5227: : 308iter [02:39,  2.08iter/s]Best score: 0.5227: : 309iter [02:40,  2.06iter/s]Best score: 0.5227: : 310iter [02:40,  1.91iter/s]Best score: 0.5227: : 311iter [02:41,  1.87iter/s]Best score: 0.5227: : 312iter [02:41,  1.98iter/s]Best score: 0.5227: : 313iter [02:42,  1.95iter/s]Best score: 0.5227: : 314iter [02:42,  1.92iter/s]Best score: 0.5227: : 315iter [02:43,  1.92iter/s]Best score: 0.5227: : 316iter [02:43,  1.83iter/s]Best score: 0.5227: : 317iter [02:44,  1.84iter/s]Best score: 0.5227: : 318iter [02:45,  1.83iter/s]Best score: 0.5227: : 319iter [02:45,  1.85iter/s]Best score: 0.5227: : 320iter [02:46,  1.87iter/s]Best score: 0.5227: : 321iter [02:46,  1.87iter/s]Best score: 0.5227: : 322iter [02:47,  1.93iter/s]Best score: 0.5227: : 323iter [02:47,  1.95iter/s]Best score: 0.5227: : 324iter [02:48,  1.93iter/s]Best score: 0.5227: : 325iter [02:48,  1.88iter/s]Best score: 0.5227: : 326iter [02:49,  1.83iter/s]Best score: 0.5227: : 327iter [02:49,  1.85iter/s]Best score: 0.5227: : 328iter [02:50,  1.88iter/s]Best score: 0.5227: : 329iter [02:50,  1.88iter/s]Best score: 0.5227: : 330iter [02:51,  1.95iter/s]Best score: 0.5227: : 331iter [02:51,  1.97iter/s]Best score: 0.5227: : 332iter [02:52,  1.93iter/s]Best score: 0.5227: : 333iter [02:52,  1.97iter/s]Best score: 0.5227: : 334iter [02:53,  1.91iter/s]Best score: 0.5227: : 335iter [02:53,  1.87iter/s]Best score: 0.5017: : 335iter [02:54,  1.87iter/s]Best score: 0.5017: : 336iter [02:54,  1.89iter/s]Best score: 0.5017: : 337iter [02:55,  1.89iter/s]Best score: 0.5017: : 338iter [02:55,  1.89iter/s]Best score: 0.5017: : 339iter [02:56,  1.91iter/s]Best score: 0.5017: : 340iter [02:56,  1.88iter/s]Best score: 0.5017: : 341iter [02:57,  1.93iter/s]Best score: 0.5017: : 342iter [02:57,  1.93iter/s]Best score: 0.5017: : 343iter [02:58,  1.93iter/s]Best score: 0.5017: : 344iter [02:58,  1.97iter/s]Best score: 0.5017: : 345iter [02:59,  1.92iter/s]Best score: 0.5017: : 346iter [02:59,  1.94iter/s]Best score: 0.5017: : 347iter [03:00,  2.01iter/s]Best score: 0.5017: : 348iter [03:00,  1.99iter/s]Best score: 0.5017: : 349iter [03:01,  1.93iter/s]
[ITER 350] Current best score: 0.5017
[PARAMS] Current best parameters:
  fx: 541.0913
  fy: 540.2144
  px: 1011.9020
  py: 760.5095
  k1: -0.01569571
  k2: 0.02915900
  k3: -0.02574744
  k4: 0.00634221
  p1: 0.00252419
  p2: -0.00232732
  p3: 0.00539957
  p4: -0.00102976
  scale: 2.9881
  rotation: -0.3275
Best score: 0.5017: : 350iter [03:01,  1.86iter/s]Best score: 0.5017: : 351iter [03:02,  1.79iter/s]Best score: 0.5017: : 352iter [03:02,  1.83iter/s]Best score: 0.5017: : 353iter [03:03,  1.83iter/s]Best score: 0.5017: : 354iter [03:03,  1.88iter/s]Best score: 0.5017: : 355iter [03:04,  1.90iter/s]Best score: 0.5017: : 356iter [03:05,  1.87iter/s]Best score: 0.5017: : 357iter [03:05,  1.88iter/s]Best score: 0.5017: : 358iter [03:06,  1.87iter/s]Best score: 0.5017: : 359iter [03:06,  1.88iter/s]Best score: 0.5017: : 360iter [03:07,  1.87iter/s]Best score: 0.5017: : 361iter [03:07,  1.93iter/s]Best score: 0.5017: : 362iter [03:08,  1.86iter/s]Best score: 0.5017: : 363iter [03:08,  1.85iter/s]Best score: 0.5017: : 364iter [03:09,  1.86iter/s]Best score: 0.5017: : 365iter [03:09,  1.91iter/s]Best score: 0.5017: : 366iter [03:10,  1.94iter/s]Best score: 0.5017: : 367iter [03:10,  1.98iter/s]Best score: 0.5017: : 368iter [03:11,  1.96iter/s]Best score: 0.5017: : 369iter [03:11,  1.90iter/s]Best score: 0.5017: : 370iter [03:12,  1.90iter/s]Best score: 0.5017: : 371iter [03:12,  1.93iter/s]Best score: 0.5017: : 372iter [03:13,  1.86iter/s]Best score: 0.5017: : 373iter [03:13,  1.88iter/s]Best score: 0.5017: : 374iter [03:14,  1.97iter/s]Best score: 0.5017: : 375iter [03:14,  1.91iter/s]Best score: 0.5017: : 376iter [03:15,  1.94iter/s]Best score: 0.5017: : 377iter [03:16,  1.91iter/s]Best score: 0.5017: : 378iter [03:16,  1.99iter/s]Best score: 0.5017: : 379iter [03:16,  1.99iter/s]Best score: 0.5017: : 380iter [03:17,  1.98iter/s]Best score: 0.5017: : 381iter [03:17,  1.99iter/s]Best score: 0.5017: : 382iter [03:18,  1.99iter/s]Best score: 0.5017: : 383iter [03:18,  1.99iter/s]Best score: 0.5017: : 384iter [03:19,  1.94iter/s]Best score: 0.5017: : 385iter [03:20,  1.95iter/s]Best score: 0.5017: : 386iter [03:20,  2.04iter/s]Best score: 0.5017: : 387iter [03:20,  2.01iter/s]Best score: 0.5017: : 388iter [03:21,  1.94iter/s]Best score: 0.5017: : 389iter [03:21,  2.05iter/s]Best score: 0.5017: : 390iter [03:22,  2.01iter/s]Best score: 0.5017: : 391iter [03:22,  2.04iter/s]Best score: 0.5017: : 392iter [03:23,  1.98iter/s]Best score: 0.5017: : 393iter [03:24,  1.92iter/s]Best score: 0.5017: : 394iter [03:24,  1.90iter/s]Best score: 0.5017: : 395iter [03:25,  1.99iter/s]Best score: 0.5017: : 396iter [03:25,  1.97iter/s]Best score: 0.5017: : 397iter [03:26,  1.91iter/s]Best score: 0.5017: : 398iter [03:26,  1.92iter/s]Best score: 0.5017: : 399iter [03:27,  1.91iter/s]
[ITER 400] Current best score: 0.5017
[PARAMS] Current best parameters:
  fx: 541.0913
  fy: 540.2144
  px: 1011.9020
  py: 760.5095
  k1: -0.01569571
  k2: 0.02915900
  k3: -0.02574744
  k4: 0.00634221
  p1: 0.00252419
  p2: -0.00232732
  p3: 0.00539957
  p4: -0.00102976
  scale: 2.9881
  rotation: -0.3275
Best score: 0.5017: : 400iter [03:27,  1.81iter/s]Best score: 0.5017: : 401iter [03:28,  1.89iter/s]Best score: 0.5017: : 402iter [03:28,  1.91iter/s]Best score: 0.5017: : 403iter [03:29,  1.86iter/s]Best score: 0.5017: : 404iter [03:29,  1.90iter/s]Best score: 0.5017: : 405iter [03:30,  1.89iter/s]Best score: 0.5017: : 406iter [03:30,  1.90iter/s]Best score: 0.5017: : 407iter [03:31,  1.97iter/s]Best score: 0.5017: : 408iter [03:31,  1.97iter/s]Best score: 0.5017: : 409iter [03:32,  1.94iter/s]Best score: 0.5017: : 410iter [03:32,  1.87iter/s]Best score: 0.5017: : 411iter [03:33,  1.96iter/s]Best score: 0.5017: : 412iter [03:33,  1.92iter/s]Best score: 0.5017: : 413iter [03:34,  1.87iter/s]Best score: 0.4918: : 413iter [03:35,  1.87iter/s]Best score: 0.4918: : 414iter [03:35,  1.96iter/s]Best score: 0.4918: : 415iter [03:35,  2.00iter/s]Best score: 0.4918: : 416iter [03:35,  2.01iter/s]Best score: 0.4918: : 417iter [03:36,  2.00iter/s]Best score: 0.4918: : 418iter [03:37,  1.96iter/s]Best score: 0.4918: : 419iter [03:37,  1.97iter/s]Best score: 0.4918: : 420iter [03:38,  1.94iter/s]Best score: 0.4918: : 421iter [03:38,  1.99iter/s]Best score: 0.4918: : 422iter [03:39,  1.91iter/s]Best score: 0.4918: : 423iter [03:39,  1.89iter/s]Best score: 0.4918: : 424iter [03:40,  1.99iter/s]Best score: 0.4918: : 425iter [03:40,  1.99iter/s]Best score: 0.4918: : 426iter [03:41,  1.92iter/s]Best score: 0.4918: : 427iter [03:41,  1.99iter/s]Best score: 0.4918: : 428iter [03:42,  1.95iter/s]Best score: 0.4793: : 428iter [03:42,  1.95iter/s]Best score: 0.4793: : 429iter [03:42,  1.94iter/s]Best score: 0.4793: : 430iter [03:43,  2.05iter/s]Best score: 0.4793: : 431iter [03:43,  1.98iter/s]Best score: 0.4793: : 432iter [03:44,  1.91iter/s]Best score: 0.4793: : 433iter [03:44,  1.91iter/s]Best score: 0.4793: : 434iter [03:45,  1.89iter/s]Best score: 0.4793: : 435iter [03:45,  1.90iter/s]Best score: 0.4793: : 436iter [03:46,  1.98iter/s]Best score: 0.4793: : 437iter [03:46,  1.97iter/s]Best score: 0.4793: : 438iter [03:47,  1.92iter/s]Best score: 0.4793: : 439iter [03:47,  1.91iter/s]Best score: 0.4793: : 440iter [03:48,  1.93iter/s]Best score: 0.4793: : 441iter [03:48,  1.90iter/s]Best score: 0.4793: : 442iter [03:49,  1.95iter/s]Best score: 0.4793: : 443iter [03:49,  1.92iter/s]Best score: 0.4793: : 444iter [03:50,  1.95iter/s]Best score: 0.4793: : 445iter [03:50,  1.92iter/s]Best score: 0.4793: : 446iter [03:51,  1.94iter/s]Best score: 0.4793: : 447iter [03:51,  1.97iter/s]Best score: 0.4793: : 448iter [03:52,  1.97iter/s]Best score: 0.4793: : 449iter [03:52,  1.90iter/s]
[ITER 450] Current best score: 0.4793
[PARAMS] Current best parameters:
  fx: 541.7952
  fy: 541.0607
  px: 1012.3854
  py: 759.1058
  k1: -0.03152192
  k2: 0.03475104
  k3: -0.01999659
  k4: 0.00374087
  p1: -0.00024757
  p2: -0.00197875
  p3: 0.00801831
  p4: -0.00184356
  scale: 3.0357
  rotation: -0.3270
Best score: 0.4793: : 450iter [03:53,  1.85iter/s]Best score: 0.4793: : 451iter [03:54,  1.85iter/s]Best score: 0.4793: : 452iter [03:54,  1.86iter/s]Best score: 0.4793: : 453iter [03:55,  1.93iter/s]Best score: 0.4793: : 454iter [03:55,  1.99iter/s]Best score: 0.4793: : 455iter [03:56,  1.94iter/s]Best score: 0.4793: : 456iter [03:56,  2.00iter/s]Best score: 0.4793: : 457iter [03:57,  1.97iter/s]Best score: 0.4793: : 458iter [03:57,  1.95iter/s]Best score: 0.4793: : 459iter [03:58,  1.96iter/s]Best score: 0.4793: : 460iter [03:58,  1.99iter/s]Best score: 0.4793: : 461iter [03:59,  1.92iter/s]Best score: 0.4793: : 462iter [03:59,  2.00iter/s]Best score: 0.4793: : 463iter [04:00,  1.95iter/s]Best score: 0.4793: : 464iter [04:00,  1.90iter/s]Best score: 0.4793: : 465iter [04:01,  1.99iter/s]Best score: 0.4793: : 466iter [04:01,  1.96iter/s]Best score: 0.4793: : 467iter [04:02,  1.95iter/s]Best score: 0.4793: : 468iter [04:02,  2.00iter/s]Best score: 0.4793: : 469iter [04:03,  1.91iter/s]Best score: 0.4793: : 470iter [04:03,  1.92iter/s]Best score: 0.4793: : 471iter [04:04,  1.94iter/s]Best score: 0.4793: : 472iter [04:04,  1.86iter/s]Best score: 0.4793: : 473iter [04:05,  1.90iter/s]Best score: 0.4793: : 474iter [04:05,  1.92iter/s]Best score: 0.4793: : 475iter [04:06,  1.91iter/s]Best score: 0.4793: : 476iter [04:06,  1.96iter/s]Best score: 0.4793: : 477iter [04:07,  1.88iter/s]Best score: 0.4793: : 478iter [04:08,  1.87iter/s]Best score: 0.4793: : 479iter [04:08,  1.91iter/s]Best score: 0.4793: : 480iter [04:09,  1.92iter/s]Best score: 0.4793: : 481iter [04:09,  1.91iter/s]Best score: 0.4793: : 482iter [04:10,  1.98iter/s]Best score: 0.4793: : 483iter [04:10,  1.95iter/s]Best score: 0.4793: : 484iter [04:11,  1.94iter/s]Best score: 0.4793: : 485iter [04:11,  2.02iter/s]Best score: 0.4793: : 486iter [04:12,  1.87iter/s]Best score: 0.4793: : 487iter [04:12,  1.86iter/s]Best score: 0.4793: : 488iter [04:13,  1.86iter/s]Best score: 0.4793: : 489iter [04:13,  1.80iter/s]Best score: 0.4793: : 490iter [04:14,  1.82iter/s]Best score: 0.4793: : 491iter [04:14,  1.87iter/s]Best score: 0.4793: : 492iter [04:15,  1.93iter/s]Best score: 0.4793: : 493iter [04:15,  1.89iter/s]Best score: 0.4793: : 494iter [04:16,  1.95iter/s]Best score: 0.4793: : 495iter [04:16,  1.96iter/s]Best score: 0.4793: : 496iter [04:17,  1.95iter/s]Best score: 0.4793: : 497iter [04:17,  2.03iter/s]Best score: 0.4793: : 498iter [04:18,  1.91iter/s]Best score: 0.4793: : 499iter [04:19,  1.89iter/s]
[ITER 500] Current best score: 0.4912
[PARAMS] Current best parameters:
  fx: 540.0815
  fy: 539.2915
  px: 1013.0244
  py: 759.5251
  k1: -0.02388527
  k2: 0.03094235
  k3: -0.02122734
  k4: 0.00460855
  p1: 0.00079271
  p2: -0.00033996
  p3: 0.00677055
  p4: -0.00159644
  scale: 3.0263
  rotation: -0.3631
Best score: 0.4793: : 500iter [04:19,  1.85iter/s]Best score: 0.4793: : 500iter [04:21,  1.91iter/s]

[📈] Forcing polish step after 500 iterations...
  Polish did not improve score: 0.482211
  Success: False
  Tangential distortion: p1=0.000793, p2=-0.000340, p3=0.006771, p4=-0.001596
  ✓ Tangential correction is significant for corner improvement
[✅] Square reference optimization complete. Score: 0.4822
[✅] Parameters copied to: /working/MDC103_W050_2025-05-07/calibration/params.json
[📌] Selecting best parameters...
[✅] Saved final refined parameters.


-------------------------------------------------------------------
                        Step 3: Undistortion                       
-------------------------------------------------------------------


[DEBUG] Parameters being applied to PTD conversion:
    fx: 540.0814909656623
    fy: 539.2914577454927
    px: 1013.0243820105919
    py: 759.5251020111757
    k1: -0.023885271198460217
    k2: 0.030942354789434873
    k3: -0.021227338003305826
    k4: 0.004608547088596384
    p1: 0.0007927124023692489
    p2: -0.00033995774575583225
    p3: 0.006770553973224116
    p4: -0.0015964421662171924
    scale: 3.026296304178691
    rotation: -0.36308053311702393
    mmpp: 1.2859673405580827
    nmpp: 1285967.3405580828

[🔄] Converting 2348 frames to PTD, creating debug images for 200 calibration frames...
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                                                                   [A📁 Rigs: 100%|██████████| 2/2 [00:24<00:00, 12.05s/rig]📁 Rigs: 100%|██████████| 2/2 [00:24<00:00, 12.01s/rig]
[✅] Saved PTDs: /working/MDC103_W050_2025-05-07/calibration/debug/3_undistorted/output/ptd
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                                                                [A📁 Rigs: 100%|██████████| 2/2 [00:01<00:00,  1.08rig/s]📁 Rigs: 100%|██████████| 2/2 [00:01<00:00,  1.08rig/s]
[✅] Saved PTDs: /working/MDC103_W050_2025-05-07/calibration/debug/3_undistorted/temp_ptd
[WARN] No .tfd files found for serial extraction
[WARN] Failed to extract serial number from .tfd file. Check that .tfd files exist and contain 'LASERbidh' or 'LASERbidg' pattern. Using 'unknown' as fallback.
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[✅] LUT written to: /working/MDC103_W050_2025-05-07/calibration/debug/3_undistorted/output/LUT.lut
[WARN] Folder name 'MDC103_W050_2025-05-07' does not match expected pattern MDC042_W007_5_28_2025. Using simple naming convention.
[✅] LUT copied to: /working/MDC103_W050_2025-05-07/calibration/MDC103_W050_2025-05-07_unknown.lut
[🏁] Finished processing MDC103_W050_2025-05-07


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