Ceres Solver Report: Iterations 1 and CONVERGENCE

[autumnlv]

Hi @mikeferguson,

I am looking to perform our robot link parameters calibration(joint offsets) using this package.

I have a estimation transform between my robot head_camera_mount_link and the frame head_camera_frame in urdf file.
I have mounted a checkerboard on my robot right arm ee and do not provided an initial guess for the checkboard frame transform .

The result is as follow:

And the config files are:

[autumnlv]

miracle_urdf.zip
The URDF file is here

[autumnlv]

Also I set the checkerboard_initial_values, and almost got the same reslut.

Which setp was wrong?