%pylab inline
Welcome to pylab, a matplotlib-based Python environment [backend: module://IPython.kernel.zmq.pylab.backend_inline]. For more information, type 'help(pylab)'.
import numpy as np
import matplotlib.pyplot as plt
import os
I'm expecting the data to be in your home directory, as for the workflow notebook.
DATA_PATH = os.path.join(os.path.expanduser('~'), 'data', 'ds105')
os.listdir(DATA_PATH)
['study_key.txt', 'release_history.txt', 'task_key.txt', 'models', 'references.txt', 'sub005', 'license.txt', 'sub004', 'sub003', 'scan_key.txt', 'sub001', 'sub006', 'README', 'sub002']
Get the filenames for the functional runs of the first subject
import glob
run_fnames = glob.glob(os.path.join(DATA_PATH, 'sub001', 'BOLD', 'task*', 'bold.nii.gz'))
run_fnames.sort()
run_fnames
['/home/mb312/data/ds105/sub001/BOLD/task001_run001/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run002/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run003/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run004/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run005/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run006/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run007/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run008/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run009/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run010/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run011/bold.nii.gz', '/home/mb312/data/ds105/sub001/BOLD/task001_run012/bold.nii.gz']
This is how to do realignment AND slice time correction on a single subject in NIPY:
from nipy.algorithms.registration import FmriRealign4d
from nipy import load_image, save_image
N_SLICES = 40
TR = 2.5
SLICE_AXIS = 0
space_to_time = list(range(0, N_SLICES, 2)) + list(range(1, N_SLICES, 2))
time_to_space = np.argsort(space_to_time)
# Let's use only the first 2 runs for now
run_fnames = run_fnames[:2]
# Make filenames into images
run_imgs = [load_image(fname) for fname in run_fnames]
R = FmriRealign4d(run_imgs, slice_order=time_to_space, slice_info=(0, 1))
# Estimate motion within- and between- sessions
R.estimate(loops=1, refscan=None)
Resampling scan 1/121 Resampling scan 2/121 Resampling scan 3/121 Resampling scan 4/121 Resampling scan 5/121 Resampling scan 6/121 Resampling scan 7/121 Resampling scan 8/121 Resampling scan 9/121 Resampling scan 10/121 Resampling scan 11/121 Resampling scan 12/121 Resampling scan 13/121 Resampling scan 14/121 Resampling scan 15/121 Resampling scan 16/121 Resampling scan 17/121 Resampling scan 18/121 Resampling scan 19/121 Resampling scan 20/121 Resampling scan 21/121 Resampling scan 22/121 Resampling scan 23/121 Resampling scan 24/121 Resampling scan 25/121 Resampling scan 26/121 Resampling scan 27/121 Resampling scan 28/121 Resampling scan 29/121 Resampling scan 30/121 Resampling scan 31/121 Resampling scan 32/121 Resampling scan 33/121 Resampling scan 34/121 Resampling scan 35/121 Resampling scan 36/121 Resampling scan 37/121 Resampling scan 38/121 Resampling scan 39/121 Resampling scan 40/121 Resampling scan 41/121 Resampling scan 42/121 Resampling scan 43/121 Resampling scan 44/121 Resampling scan 45/121 Resampling scan 46/121 Resampling scan 47/121 Resampling scan 48/121 Resampling scan 49/121 Resampling scan 50/121 Resampling scan 51/121 Resampling scan 52/121 Resampling scan 53/121 Resampling scan 54/121 Resampling scan 55/121 Resampling scan 56/121 Resampling scan 57/121 Resampling scan 58/121 Resampling scan 59/121 Resampling scan 60/121 Resampling scan 61/121 Resampling scan 62/121 Resampling scan 63/121 Resampling scan 64/121 Resampling scan 65/121 Resampling scan 66/121 Resampling scan 67/121 Resampling scan 68/121 Resampling scan 69/121 Resampling scan 70/121 Resampling scan 71/121 Resampling scan 72/121 Resampling scan 73/121 Resampling scan 74/121 Resampling scan 75/121 Resampling scan 76/121 Resampling scan 77/121 Resampling scan 78/121 Resampling scan 79/121 Resampling scan 80/121 Resampling scan 81/121 Resampling scan 82/121 Resampling scan 83/121 Resampling scan 84/121 Resampling scan 85/121 Resampling scan 86/121 Resampling scan 87/121 Resampling scan 88/121 Resampling scan 89/121 Resampling scan 90/121 Resampling scan 91/121 Resampling scan 92/121 Resampling scan 93/121 Resampling scan 94/121 Resampling scan 95/121 Resampling scan 96/121 Resampling scan 97/121 Resampling scan 98/121 Resampling scan 99/121 Resampling scan 100/121 Resampling scan 101/121 Resampling scan 102/121 Resampling scan 103/121 Resampling scan 104/121 Resampling scan 105/121 Resampling scan 106/121 Resampling scan 107/121 Resampling scan 108/121 Resampling scan 109/121 Resampling scan 110/121 Resampling scan 111/121 Resampling scan 112/121 Resampling scan 113/121 Resampling scan 114/121 Resampling scan 115/121 Resampling scan 116/121 Resampling scan 117/121 Resampling scan 118/121 Resampling scan 119/121 Resampling scan 120/121 Resampling scan 121/121 Estimating motion at time frame 1/121... Optimization terminated successfully. Current function value: -6.307333 Iterations: 11 Function evaluations: 41 Gradient evaluations: 11 Hessian evaluations: 11 translation : [-0.07324246 -0.01781421 -0.05081702] rotation : [-0.00117747 -0.00436287 0.00253694] Estimating motion at time frame 2/121... Optimization terminated successfully. Current function value: -6.307975 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [-0.08398673 -0.02948134 -0.04710506] rotation : [-0.00092927 -0.00304771 0.00258669] Estimating motion at time frame 3/121... Optimization terminated successfully. Current function value: -6.308489 Iterations: 11 Function evaluations: 12 Gradient evaluations: 11 Hessian evaluations: 11 translation : [-0.07913381 -0.02934382 -0.03703903] rotation : [-0.00145616 -0.00194298 0.00278976] Estimating motion at time frame 4/121... Optimization terminated successfully. Current function value: -6.308728 Iterations: 11 Function evaluations: 19 Gradient evaluations: 11 Hessian evaluations: 11 translation : [-0.08058752 -0.05550932 -0.03430978] rotation : [-0.00062274 -0.00130803 0.00026999] Estimating motion at time frame 5/121... Optimization terminated successfully. Current function value: -6.309119 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.07132394 -0.08823757 -0.04714596] rotation : [-0.00116533 -0.00094461 -0.00062282] Estimating motion at time frame 6/121... Optimization terminated successfully. Current function value: -6.309504 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [-0.05987917 -0.07832279 -0.03477728] rotation : [-0.0011507 -0.00199486 0.00065904] Estimating motion at time frame 7/121... Optimization terminated successfully. Current function value: -6.310003 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.08691466 -0.10696442 -0.04342204] rotation : [-0.00135826 -0.00053823 0.00024895] Estimating motion at time frame 8/121... Optimization terminated successfully. Current function value: -6.310624 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.10180971 -0.06978421 -0.07831779] rotation : [-0.00167853 0.00054596 0.00018842] Estimating motion at time frame 9/121... Optimization terminated successfully. Current function value: -6.311148 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.09542805 -0.02189536 -0.06644728] rotation : [ -2.04894031e-03 6.03084174e-05 4.92245406e-04] Estimating motion at time frame 10/121... Optimization terminated successfully. Current function value: -6.311708 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.07754244 -0.02470438 -0.03649362] rotation : [-0.00222406 -0.00052415 0.00214415] Estimating motion at time frame 11/121... Optimization terminated successfully. Current function value: -6.312414 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.09532827 -0.01793094 -0.03474164] rotation : [-0.00232173 -0.0012524 0.00270095] Estimating motion at time frame 12/121... Optimization terminated successfully. Current function value: -6.312862 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.09382274 0.01549692 -0.02228395] rotation : [-0.00113201 -0.00169712 0.00250279] Estimating motion at time frame 13/121... Optimization terminated successfully. Current function value: -6.313621 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.0869105 -0.03892984 -0.01481042] rotation : [-0.00159046 -0.00190578 0.00347667] Estimating motion at time frame 14/121... Optimization terminated successfully. Current function value: -6.314481 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.07134044 -0.04673073 -0.0145218 ] rotation : [-0.00260689 -0.00132065 0.00273099] Estimating motion at time frame 15/121... Optimization terminated successfully. Current function value: -6.315213 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.10111364 -0.03781175 -0.0248575 ] rotation : [-0.00212531 -0.0016123 0.00242911] Estimating motion at time frame 16/121... Optimization terminated successfully. Current function value: -6.315547 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [-0.08270239 0.0037101 -0.024433 ] rotation : [-0.001459 -0.00166781 0.00131127] Estimating motion at time frame 17/121... Optimization terminated successfully. Current function value: -6.315879 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.05740523 0.04182546 -0.08923144] rotation : [-0.00130093 -0.00043597 0.0008489 ] Estimating motion at time frame 18/121... Optimization terminated successfully. Current function value: -6.316213 Iterations: 8 Function evaluations: 14 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.07335987 -0.01124886 -0.02539189] rotation : [-0.00187203 -0.00033619 -0.00016958] Estimating motion at time frame 19/121... Optimization terminated successfully. Current function value: -6.317202 Iterations: 12 Function evaluations: 13 Gradient evaluations: 12 Hessian evaluations: 12 translation : [-0.0317631 -0.03433274 -0.01444959] rotation : [-0.00181308 -0.00464039 0.00191192] Estimating motion at time frame 20/121... Optimization terminated successfully. Current function value: -6.318441 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [-0.03563717 -0.05989017 -0.02295496] rotation : [-0.00063952 -0.00443947 0.00311445] Estimating motion at time frame 21/121... Optimization terminated successfully. Current function value: -6.319041 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.07666668 -0.0508486 -0.00621835] rotation : [-0.00133174 -0.00185588 0.00253229] Estimating motion at time frame 22/121... Optimization terminated successfully. Current function value: -6.320206 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [-0.06035183 -0.01963408 -0.03390768] rotation : [-0.00178705 -0.00464661 0.0030958 ] Estimating motion at time frame 23/121... Optimization terminated successfully. Current function value: -6.321080 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.08371508 -0.01150348 -0.06142091] rotation : [-0.00262428 -0.00211742 0.00215308] Estimating motion at time frame 24/121... Optimization terminated successfully. Current function value: -6.321710 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.08964347 -0.04793891 -0.00234433] rotation : [-0.00145692 -0.00179118 0.00248898] Estimating motion at time frame 25/121... Optimization terminated successfully. Current function value: -6.322613 Iterations: 8 Function evaluations: 11 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.06097266 -0.04686847 -0.02180358] rotation : [-0.00220004 -0.00274606 0.00222926] Estimating motion at time frame 26/121... Optimization terminated successfully. Current function value: -6.323960 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.0445997 -0.05418781 -0.03167271] rotation : [-0.00241491 -0.0037994 0.0025703 ] Estimating motion at time frame 27/121... Optimization terminated successfully. Current function value: -6.324735 Iterations: 9 Function evaluations: 19 Gradient evaluations: 9 Hessian evaluations: 9 translation : [-0.05035372 -0.04114466 -0.02360156] rotation : [-0.00180287 -0.0022798 0.00289602] Estimating motion at time frame 28/121... Optimization terminated successfully. Current function value: -6.325610 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [-0.05328104 -0.04706176 -0.01420262] rotation : [-0.00180678 -0.00298788 0.00292667] Estimating motion at time frame 29/121... Optimization terminated successfully. Current function value: -6.326420 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.05707794 -0.02020597 -0.02568743] rotation : [-0.00286204 -0.00166395 0.00207471] Estimating motion at time frame 30/121... Optimization terminated successfully. Current function value: -6.327089 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.05564961 -0.03840093 -0.01301082] rotation : [-0.00281111 -0.00084431 0.00119604] Estimating motion at time frame 31/121... Optimization terminated successfully. Current function value: -6.327505 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.04085094 -0.03958773 -0.03239269] rotation : [-0.00151893 -0.00136029 0.00173726] Estimating motion at time frame 32/121... Optimization terminated successfully. Current function value: -6.327608 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.04940055 -0.02370535 -0.01459365] rotation : [ 2.37727686e-05 -9.15644375e-04 1.10325283e-03] Estimating motion at time frame 33/121... Optimization terminated successfully. Current function value: -6.328711 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [-0.02035479 -0.01514685 -0.02274351] rotation : [ -1.48859092e-05 -4.84350834e-03 2.98356786e-03] Estimating motion at time frame 34/121... Optimization terminated successfully. Current function value: -6.329056 Iterations: 11 Function evaluations: 12 Gradient evaluations: 11 Hessian evaluations: 11 translation : [-0.03439524 -0.0443216 -0.056892 ] rotation : [-0.0007847 -0.00120838 0.00229997] Estimating motion at time frame 35/121... Optimization terminated successfully. Current function value: -6.329276 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.05973343 -0.06040037 -0.06068807] rotation : [-0.0001338 0.00027317 0.0004736 ] Estimating motion at time frame 36/121... Optimization terminated successfully. Current function value: -6.329630 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.05847767 -0.05467099 -0.02239585] rotation : [-0.00156391 -0.00078187 0.00104831] Estimating motion at time frame 37/121... Optimization terminated successfully. Current function value: -6.330223 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.04583661 -0.00060643 -0.04549142] rotation : [-0.00254505 -0.00127479 0.00168809] Estimating motion at time frame 38/121... Optimization terminated successfully. Current function value: -6.330719 Iterations: 8 Function evaluations: 13 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.06886391 0.03675957 -0.02685298] rotation : [-0.00133262 -0.00196698 0.00248277] Estimating motion at time frame 39/121... Optimization terminated successfully. Current function value: -6.331424 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [-0.06344813 0.05248288 -0.00236703] rotation : [-0.00206883 -0.00150391 0.00323764] Estimating motion at time frame 40/121... Optimization terminated successfully. Current function value: -6.332068 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.05817704 0.04050488 0.00172802] rotation : [-0.00270139 -0.00021641 0.00248832] Estimating motion at time frame 41/121... Optimization terminated successfully. Current function value: -6.332556 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.04310825 0.0678692 -0.01390054] rotation : [-0.00279281 -0.00078861 0.00129305] Estimating motion at time frame 42/121... Optimization terminated successfully. Current function value: -6.333027 Iterations: 9 Function evaluations: 14 Gradient evaluations: 9 Hessian evaluations: 9 translation : [-0.06854416 0.07364128 -0.00495403] rotation : [-0.0015759 -0.00107647 0.00284884] Estimating motion at time frame 43/121... Optimization terminated successfully. Current function value: -6.333752 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.06137069 0.08797754 -0.00525977] rotation : [-0.00206654 -0.00224306 0.00274956] Estimating motion at time frame 44/121... Optimization terminated successfully. Current function value: -6.334314 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.06985808 0.05276079 -0.03439053] rotation : [-0.00206969 -0.00186585 0.00200181] Estimating motion at time frame 45/121... Optimization terminated successfully. Current function value: -6.334659 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.03030906 0.02972735 -0.04298656] rotation : [-0.00079602 -0.00133197 0.00242659] Estimating motion at time frame 46/121... Optimization terminated successfully. Current function value: -6.335193 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.01221156 0.00102452 -0.04022707] rotation : [-0.00125354 -0.00205158 0.00233021] Estimating motion at time frame 47/121... Optimization terminated successfully. Current function value: -6.335613 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.04341035 -0.0049739 -0.02799616] rotation : [-0.00100477 -0.00200897 0.00216562] Estimating motion at time frame 48/121... Optimization terminated successfully. Current function value: -6.335890 Iterations: 10 Function evaluations: 18 Gradient evaluations: 10 Hessian evaluations: 10 translation : [-0.03538467 -0.01102595 -0.01825483] rotation : [-0.0003946 -0.00063465 0.00252902] Estimating motion at time frame 49/121... Optimization terminated successfully. Current function value: -6.336013 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [-0.03717283 -0.02013523 -0.02840619] rotation : [ -9.54284089e-04 -6.14318301e-04 8.52956183e-05] Estimating motion at time frame 50/121... Optimization terminated successfully. Current function value: -6.336206 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.04748687 0.00804308 -0.02270663] rotation : [-0.00154504 -0.00035799 0.00044997] Estimating motion at time frame 51/121... Optimization terminated successfully. Current function value: -6.336584 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.05698963 0.01673125 -0.05518179] rotation : [-0.00082174 -0.00118267 0.0023395 ] Estimating motion at time frame 52/121... Optimization terminated successfully. Current function value: -6.336860 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.05609593 0.03396686 -0.03862095] rotation : [-0.00121126 -0.00128972 0.00154146] Estimating motion at time frame 53/121... Optimization terminated successfully. Current function value: -6.337013 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.04869735 0.01402427 -0.00464874] rotation : [-0.00062059 -0.00166526 0.00062867] Estimating motion at time frame 54/121... Optimization terminated successfully. Current function value: -6.337092 Iterations: 7 Function evaluations: 16 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.05003204 0.00339976 -0.01276425] rotation : [-0.00031503 -0.00090519 0.00045563] Estimating motion at time frame 55/121... Optimization terminated successfully. Current function value: -6.337227 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.04349731 -0.00353608 -0.01696442] rotation : [-0.00103095 -0.00085542 0.00051787] Estimating motion at time frame 56/121... Optimization terminated successfully. Current function value: -6.337596 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [-0.05004906 -0.00653723 -0.03967419] rotation : [ -1.78973078e-03 5.05032084e-06 1.57957490e-03] Estimating motion at time frame 57/121... Optimization terminated successfully. Current function value: -6.337847 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.01191324 -0.03160111 -0.04529673] rotation : [-0.00092493 0.00028858 0.00178701] Estimating motion at time frame 58/121... Optimization terminated successfully. Current function value: -6.338220 Iterations: 8 Function evaluations: 10 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.0279708 -0.01948132 -0.03606258] rotation : [-0.00070885 -0.00148397 0.00256994] Estimating motion at time frame 59/121... Optimization terminated successfully. Current function value: -6.338618 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.01433163 -0.01881631 -0.02049285] rotation : [-0.00100585 -0.00245132 0.00141272] Estimating motion at time frame 60/121... Optimization terminated successfully. Current function value: -6.338858 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.00108222 -0.02292137 -0.02298462] rotation : [-0.00116241 -0.00130386 0.00087814] Estimating motion at time frame 61/121... Optimization terminated successfully. Current function value: -6.339148 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.02598379 -0.03919426 -0.02248411] rotation : [-0.00012567 -0.00132818 0.00230574] Estimating motion at time frame 62/121... Optimization terminated successfully. Current function value: -6.339286 Iterations: 9 Function evaluations: 21 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.01164239 -0.02974702 -0.05085832] rotation : [-0.00030313 -0.00070785 0.00075973] Estimating motion at time frame 63/121... Optimization terminated successfully. Current function value: -6.339431 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.02263601 -0.05478358 -0.01399595] rotation : [-0.00080768 -0.00011674 -0.00089079] Estimating motion at time frame 64/121... Optimization terminated successfully. Current function value: -6.339564 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.01657645 -0.03539572 -0.0170142 ] rotation : [-0.00108849 0.00011566 0.00053684] Estimating motion at time frame 65/121... Optimization terminated successfully. Current function value: -6.339675 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [-0.01250229 0.00553144 -0.03246694] rotation : [-0.00083816 -0.00027319 0.00113302] Estimating motion at time frame 66/121... Optimization terminated successfully. Current function value: -6.339718 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.00418873 0.00421107 -0.02256135] rotation : [-0.00076903 0.00020674 -0.00034165] Estimating motion at time frame 67/121... Optimization terminated successfully. Current function value: -6.339762 Iterations: 7 Function evaluations: 10 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.00200664 0.00601005 -0.00235788] rotation : [-0.00065247 -0.00062159 0.00032407] Estimating motion at time frame 68/121... Optimization terminated successfully. Current function value: -6.339887 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.02740161 0.01438967 -0.03739854] rotation : [-0.00103639 0.00040474 0.00068106] Estimating motion at time frame 69/121... Optimization terminated successfully. Current function value: -6.340114 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.02629211 0.03814909 -0.03221215] rotation : [ -1.79513063e-03 -9.32601530e-04 9.79540465e-05] Estimating motion at time frame 70/121... Optimization terminated successfully. Current function value: -6.340211 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.02957896 0.05199633 -0.00323779] rotation : [-0.00082505 -0.00090535 0.0005457 ] Estimating motion at time frame 71/121... Optimization terminated successfully. Current function value: -6.340300 Iterations: 10 Function evaluations: 17 Gradient evaluations: 10 Hessian evaluations: 10 translation : [-0.00718381 0.02910407 -0.00346897] rotation : [-0.0010776 0.0001562 -0.00107883] Estimating motion at time frame 72/121... Optimization terminated successfully. Current function value: -6.340442 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.00775969 0.05139811 -0.02021846] rotation : [ -1.42667468e-03 -8.39688651e-04 -6.75493063e-05] Estimating motion at time frame 73/121... Optimization terminated successfully. Current function value: -6.340712 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.04260424 0.01795161 -0.01386799] rotation : [-0.00199605 -0.000318 0.00088944] Estimating motion at time frame 74/121... Optimization terminated successfully. Current function value: -6.341122 Iterations: 32 Function evaluations: 33 Gradient evaluations: 32 Hessian evaluations: 32 translation : [ 0.00545324 -0.00057299 -0.0383464 ] rotation : [ 0.00237527 -0.00361484 -0.00148203] Estimating motion at time frame 75/121... Optimization terminated successfully. Current function value: -6.342133 Iterations: 11 Function evaluations: 12 Gradient evaluations: 11 Hessian evaluations: 11 translation : [-0.00985614 -0.03716704 0.03692394] rotation : [ 0.0046797 -0.00062828 -0.00015836] Estimating motion at time frame 76/121... Optimization terminated successfully. Current function value: -6.342270 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.00119713 -0.00800735 -0.03200265] rotation : [ -1.20977598e-03 2.36094444e-05 -1.35211622e-03] Estimating motion at time frame 77/121... Optimization terminated successfully. Current function value: -6.342411 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.02337243 -0.02762587 -0.014732 ] rotation : [-0.0004642 -0.00130514 -0.00032328] Estimating motion at time frame 78/121... Optimization terminated successfully. Current function value: -6.342502 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.01057088 -0.04693108 -0.01642626] rotation : [-0.00050957 -0.00031952 -0.00074765] Estimating motion at time frame 79/121... Optimization terminated successfully. Current function value: -6.342584 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.0192872 -0.0267163 -0.0065161] rotation : [ 0.00074673 -0.00032648 -0.0011559 ] Estimating motion at time frame 80/121... Optimization terminated successfully. Current function value: -6.342656 Iterations: 7 Function evaluations: 9 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.01390969 -0.04160831 -0.01860688] rotation : [ 1.12263547e-03 1.71786680e-04 -1.14631625e-05] Estimating motion at time frame 81/121... Optimization terminated successfully. Current function value: -6.342757 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [-0.00437215 -0.04398502 0.02068755] rotation : [ 0.0008381 -0.0005034 -0.00122234] Estimating motion at time frame 82/121... Optimization terminated successfully. Current function value: -6.343193 Iterations: 13 Function evaluations: 22 Gradient evaluations: 13 Hessian evaluations: 13 translation : [ 0.03858513 0.00710725 0.00365776] rotation : [ -5.70756825e-05 -2.62682955e-04 -4.09164774e-03] Estimating motion at time frame 83/121... Optimization terminated successfully. Current function value: -6.343384 Iterations: 10 Function evaluations: 13 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.04302645 0.00604935 0.0029121 ] rotation : [-0.00088037 0.00096013 -0.00217519] Estimating motion at time frame 84/121... Optimization terminated successfully. Current function value: -6.343506 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.02755571 0.00887969 0.01481617] rotation : [-0.00119192 0.00040358 -0.00118636] Estimating motion at time frame 85/121... Optimization terminated successfully. Current function value: -6.343582 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.03266299 -0.00223022 0.00973307] rotation : [-0.00055669 -0.00062248 -0.00044822] Estimating motion at time frame 86/121... Optimization terminated successfully. Current function value: -6.343593 Iterations: 11 Function evaluations: 18 Gradient evaluations: 11 Hessian evaluations: 11 translation : [ 0.00668905 0.01747903 0.01249129] rotation : [ 0.00010769 0.00010073 -0.00017251] Estimating motion at time frame 87/121... Optimization terminated successfully. Current function value: -6.343683 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [-0.01824415 -0.01919846 0.02590943] rotation : [-0.00019907 -0.0001975 -0.00140736] Estimating motion at time frame 88/121... Optimization terminated successfully. Current function value: -6.343944 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.02928954 -0.02091411 -0.00105839] rotation : [-0.00121313 0.00041463 -0.00257489] Estimating motion at time frame 89/121... Optimization terminated successfully. Current function value: -6.344066 Iterations: 10 Function evaluations: 15 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.04198033 -0.02848598 -0.00457596] rotation : [-0.00054806 0.00046423 -0.00153011] Estimating motion at time frame 90/121... Optimization terminated successfully. Current function value: -6.344229 Iterations: 11 Function evaluations: 12 Gradient evaluations: 11 Hessian evaluations: 11 translation : [ 0.02558585 -0.05281025 0.00853285] rotation : [-0.00077661 0.00101494 -0.00153907] Estimating motion at time frame 91/121... Optimization terminated successfully. Current function value: -6.344396 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.01860164 -0.04016875 0.00232094] rotation : [-0.00084075 0.00110776 -0.00169809] Estimating motion at time frame 92/121... Optimization terminated successfully. Current function value: -6.344508 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.02455082 -0.00546642 0.00193785] rotation : [-0.00091901 -0.00026672 0.00108196] Estimating motion at time frame 93/121... Optimization terminated successfully. Current function value: -6.344586 Iterations: 8 Function evaluations: 13 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.00135557 -0.01954893 -0.00635197] rotation : [-0.00056059 0.00115841 -0.00065839] Estimating motion at time frame 94/121... Optimization terminated successfully. Current function value: -6.344629 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.01062316 -0.01098263 -0.02124509] rotation : [-0.0005415 -0.00014713 -0.00071951] Estimating motion at time frame 95/121... Optimization terminated successfully. Current function value: -6.344728 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.01529853 0.01883825 -0.03095839] rotation : [-0.00112225 -0.00047648 0.00023511] Estimating motion at time frame 96/121... Optimization terminated successfully. Current function value: -6.344866 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.02516524 0.02191945 0.01434922] rotation : [-0.00062199 -0.00121234 -0.00080541] Estimating motion at time frame 97/121... Optimization terminated successfully. Current function value: -6.345081 Iterations: 15 Function evaluations: 16 Gradient evaluations: 15 Hessian evaluations: 15 translation : [ 0.07724476 -0.00928004 0.00800545] rotation : [-0.00078025 -0.00052142 -0.00131838] Estimating motion at time frame 98/121... Optimization terminated successfully. Current function value: -6.345146 Iterations: 16 Function evaluations: 21 Gradient evaluations: 16 Hessian evaluations: 16 translation : [ 0.03526418 -0.01193457 0.00198287] rotation : [-0.00045877 0.00060504 -0.00132524] Estimating motion at time frame 99/121... Optimization terminated successfully. Current function value: -6.345239 Iterations: 14 Function evaluations: 15 Gradient evaluations: 14 Hessian evaluations: 14 translation : [ 0.02234311 -0.01560546 0.01374774] rotation : [ 0.00091415 -0.00016373 -0.00129539] Estimating motion at time frame 100/121... Optimization terminated successfully. Current function value: -6.345424 Iterations: 15 Function evaluations: 20 Gradient evaluations: 15 Hessian evaluations: 15 translation : [ 0.08633341 0.03612261 -0.01768435] rotation : [ 0.00029836 0.00036578 -0.00111784] Estimating motion at time frame 101/121... Optimization terminated successfully. Current function value: -6.345635 Iterations: 16 Function evaluations: 17 Gradient evaluations: 16 Hessian evaluations: 16 translation : [ 0.05806817 -0.0091085 0.00919831] rotation : [-0.00022839 -0.00031016 -0.00267494] Estimating motion at time frame 102/121... Optimization terminated successfully. Current function value: -6.345845 Iterations: 18 Function evaluations: 19 Gradient evaluations: 18 Hessian evaluations: 18 translation : [ 0.08425597 -0.0130324 -0.02093176] rotation : [-0.00031547 0.00030767 -0.00212074] Estimating motion at time frame 103/121... Optimization terminated successfully. Current function value: -6.345935 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.04253547 -0.02230563 -0.00254413] rotation : [ 0.00028129 -0.00022252 0.00093933] Estimating motion at time frame 104/121... Optimization terminated successfully. Current function value: -6.346007 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.00385728 -0.05512885 0.03305142] rotation : [ 0.00077336 0.00020023 -0.0002717 ] Estimating motion at time frame 105/121... Optimization terminated successfully. Current function value: -6.346294 Iterations: 11 Function evaluations: 12 Gradient evaluations: 11 Hessian evaluations: 11 translation : [ 0.03692673 -0.02080838 -0.01621432] rotation : [ 0.00043149 0.00145525 -0.00306504] Estimating motion at time frame 106/121... Optimization terminated successfully. Current function value: -6.346638 Iterations: 12 Function evaluations: 13 Gradient evaluations: 12 Hessian evaluations: 12 translation : [ 0.07380531 -0.00593262 -0.04807677] rotation : [ 0.00061397 0.00075902 -0.00300646] Estimating motion at time frame 107/121... Optimization terminated successfully. Current function value: -6.347007 Iterations: 13 Function evaluations: 14 Gradient evaluations: 13 Hessian evaluations: 13 translation : [ 0.0614357 0.01523702 -0.05920555] rotation : [ 0.00144608 0.00102253 -0.00220432] Estimating motion at time frame 108/121... Optimization terminated successfully. Current function value: -6.347731 Iterations: 14 Function evaluations: 15 Gradient evaluations: 14 Hessian evaluations: 14 translation : [ 0.06925861 0.02664948 -0.04258225] rotation : [ 0.00078746 0.0016764 -0.00474793] Estimating motion at time frame 109/121... Optimization terminated successfully. Current function value: -6.348176 Iterations: 13 Function evaluations: 14 Gradient evaluations: 13 Hessian evaluations: 13 translation : [ 0.06925041 0.02416178 -0.03660971] rotation : [-0.00024309 0.00145994 -0.00389087] Estimating motion at time frame 110/121... Optimization terminated successfully. Current function value: -6.348700 Iterations: 12 Function evaluations: 13 Gradient evaluations: 12 Hessian evaluations: 12 translation : [ 0.07377188 0.04080285 -0.05015953] rotation : [ 0.00027193 0.00075089 -0.00404898] Estimating motion at time frame 111/121... Optimization terminated successfully. Current function value: -6.349091 Iterations: 12 Function evaluations: 13 Gradient evaluations: 12 Hessian evaluations: 12 translation : [ 0.08894641 0.02113464 -0.05958744] rotation : [-0.00014429 0.00040784 -0.00303715] Estimating motion at time frame 112/121... Optimization terminated successfully. Current function value: -6.349372 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.03493004 0.01593474 -0.0605416 ] rotation : [-0.00061866 0.00149317 -0.00225942] Estimating motion at time frame 113/121... Optimization terminated successfully. Current function value: -6.349599 Iterations: 12 Function evaluations: 18 Gradient evaluations: 12 Hessian evaluations: 12 translation : [ 0.05790233 -0.00254756 -0.01894323] rotation : [-0.00018387 0.00053087 -0.00272223] Estimating motion at time frame 114/121... Optimization terminated successfully. Current function value: -6.350425 Iterations: 12 Function evaluations: 13 Gradient evaluations: 12 Hessian evaluations: 12 translation : [ 0.08222547 -0.00657179 -0.0299611 ] rotation : [-0.00055494 0.00091665 -0.00546929] Estimating motion at time frame 115/121... Optimization terminated successfully. Current function value: -6.351343 Iterations: 11 Function evaluations: 12 Gradient evaluations: 11 Hessian evaluations: 11 translation : [ 0.08182988 0.00209713 -0.0534267 ] rotation : [-0.0003781 0.00171993 -0.00576221] Estimating motion at time frame 116/121... Optimization terminated successfully. Current function value: -6.351808 Iterations: 13 Function evaluations: 14 Gradient evaluations: 13 Hessian evaluations: 13 translation : [ 0.07784003 -0.00942977 -0.03611797] rotation : [ -8.82453007e-05 1.72219284e-03 -3.83960302e-03] Estimating motion at time frame 117/121... Optimization terminated successfully. Current function value: -6.352379 Iterations: 21 Function evaluations: 44 Gradient evaluations: 21 Hessian evaluations: 21 translation : [ 0.06423001 -0.0313237 -0.02518151] rotation : [ 0.00025566 0.00163512 -0.00435512] Estimating motion at time frame 118/121... Optimization terminated successfully. Current function value: -6.352803 Iterations: 11 Function evaluations: 12 Gradient evaluations: 11 Hessian evaluations: 11 translation : [ 0.0682333 -0.04534227 -0.01405482] rotation : [ 0.00028889 0.0014607 -0.00348953] Estimating motion at time frame 119/121... Optimization terminated successfully. Current function value: -6.353074 Iterations: 9 Function evaluations: 19 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.07402611 -0.0579042 -0.01680984] rotation : [-0.00014409 0.0012798 -0.002003 ] Estimating motion at time frame 120/121... Optimization terminated successfully. Current function value: -6.353512 Iterations: 13 Function evaluations: 22 Gradient evaluations: 13 Hessian evaluations: 13 translation : [ 0.04356846 -0.0694887 -0.00971056] rotation : [ 0.00011774 0.00180913 -0.00304784] Estimating motion at time frame 121/121... Optimization terminated successfully. Current function value: -6.353641 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.03954592 -0.01692439 -0.00413662] rotation : [-0.00054916 0.00102438 -0.00154371] Resampling scan 1/121 Resampling scan 2/121 Resampling scan 3/121 Resampling scan 4/121 Resampling scan 5/121 Resampling scan 6/121 Resampling scan 7/121 Resampling scan 8/121 Resampling scan 9/121 Resampling scan 10/121 Resampling scan 11/121 Resampling scan 12/121 Resampling scan 13/121 Resampling scan 14/121 Resampling scan 15/121 Resampling scan 16/121 Resampling scan 17/121 Resampling scan 18/121 Resampling scan 19/121 Resampling scan 20/121 Resampling scan 21/121 Resampling scan 22/121 Resampling scan 23/121 Resampling scan 24/121 Resampling scan 25/121 Resampling scan 26/121 Resampling scan 27/121 Resampling scan 28/121 Resampling scan 29/121 Resampling scan 30/121 Resampling scan 31/121 Resampling scan 32/121 Resampling scan 33/121 Resampling scan 34/121 Resampling scan 35/121 Resampling scan 36/121 Resampling scan 37/121 Resampling scan 38/121 Resampling scan 39/121 Resampling scan 40/121 Resampling scan 41/121 Resampling scan 42/121 Resampling scan 43/121 Resampling scan 44/121 Resampling scan 45/121 Resampling scan 46/121 Resampling scan 47/121 Resampling scan 48/121 Resampling scan 49/121 Resampling scan 50/121 Resampling scan 51/121 Resampling scan 52/121 Resampling scan 53/121 Resampling scan 54/121 Resampling scan 55/121 Resampling scan 56/121 Resampling scan 57/121 Resampling scan 58/121 Resampling scan 59/121 Resampling scan 60/121 Resampling scan 61/121 Resampling scan 62/121 Resampling scan 63/121 Resampling scan 64/121 Resampling scan 65/121 Resampling scan 66/121 Resampling scan 67/121 Resampling scan 68/121 Resampling scan 69/121 Resampling scan 70/121 Resampling scan 71/121 Resampling scan 72/121 Resampling scan 73/121 Resampling scan 74/121 Resampling scan 75/121 Resampling scan 76/121 Resampling scan 77/121 Resampling scan 78/121 Resampling scan 79/121 Resampling scan 80/121 Resampling scan 81/121 Resampling scan 82/121 Resampling scan 83/121 Resampling scan 84/121 Resampling scan 85/121 Resampling scan 86/121 Resampling scan 87/121 Resampling scan 88/121 Resampling scan 89/121 Resampling scan 90/121 Resampling scan 91/121 Resampling scan 92/121 Resampling scan 93/121 Resampling scan 94/121 Resampling scan 95/121 Resampling scan 96/121 Resampling scan 97/121 Resampling scan 98/121 Resampling scan 99/121 Resampling scan 100/121 Resampling scan 101/121 Resampling scan 102/121 Resampling scan 103/121 Resampling scan 104/121 Resampling scan 105/121 Resampling scan 106/121 Resampling scan 107/121 Resampling scan 108/121 Resampling scan 109/121 Resampling scan 110/121 Resampling scan 111/121 Resampling scan 112/121 Resampling scan 113/121 Resampling scan 114/121 Resampling scan 115/121 Resampling scan 116/121 Resampling scan 117/121 Resampling scan 118/121 Resampling scan 119/121 Resampling scan 120/121 Resampling scan 121/121 Estimating motion at time frame 1/121... Optimization terminated successfully. Current function value: -6.228570 Iterations: 15 Function evaluations: 16 Gradient evaluations: 15 Hessian evaluations: 15 translation : [ 0.0928405 0.0824929 -0.05528911] rotation : [-0.00367965 0.00331068 -0.00667309] Estimating motion at time frame 2/121... Optimization terminated successfully. Current function value: -6.229909 Iterations: 17 Function evaluations: 18 Gradient evaluations: 17 Hessian evaluations: 17 translation : [ 0.08420573 0.06461878 -0.05077613] rotation : [-0.00289566 0.0036068 -0.00644165] Estimating motion at time frame 3/121... Optimization terminated successfully. Current function value: -6.231306 Iterations: 13 Function evaluations: 14 Gradient evaluations: 13 Hessian evaluations: 13 translation : [ 0.09774265 0.09652555 -0.00988314] rotation : [-0.00355086 0.00332522 -0.00420032] Estimating motion at time frame 4/121... Optimization terminated successfully. Current function value: -6.232190 Iterations: 16 Function evaluations: 49 Gradient evaluations: 16 Hessian evaluations: 16 translation : [ 0.08357231 0.0591144 0.01588115] rotation : [-0.00263493 -0.00123514 -0.00372646] Estimating motion at time frame 5/121... Optimization terminated successfully. Current function value: -6.234254 Iterations: 23 Function evaluations: 24 Gradient evaluations: 23 Hessian evaluations: 23 translation : [ 0.136809 0.07515738 -0.07231451] rotation : [-0.00549132 0.00318958 -0.00609163] Estimating motion at time frame 6/121... Optimization terminated successfully. Current function value: -6.235647 Iterations: 14 Function evaluations: 15 Gradient evaluations: 14 Hessian evaluations: 14 translation : [ 0.13276624 0.08510397 -0.01282122] rotation : [-0.00393035 0.00319551 -0.00344242] Estimating motion at time frame 7/121... Optimization terminated successfully. Current function value: -6.235902 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.05725949 0.06158076 0.04304677] rotation : [-0.00133241 0.00028594 -0.00137611] Estimating motion at time frame 8/121... Optimization terminated successfully. Current function value: -6.236225 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.03468581 0.05803126 0.01005308] rotation : [-0.00163166 0.00101116 -0.0022182 ] Estimating motion at time frame 9/121... Optimization terminated successfully. Current function value: -6.236733 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.04121436 0.06689968 0.02258828] rotation : [-0.00196964 0.00177967 -0.00244442] Estimating motion at time frame 10/121... Optimization terminated successfully. Current function value: -6.237286 Iterations: 10 Function evaluations: 12 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.04295512 0.09884585 0.00501165] rotation : [-0.00120433 0.00196761 -0.00267496] Estimating motion at time frame 11/121... Optimization terminated successfully. Current function value: -6.238035 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.04222575 0.07366685 0.00739301] rotation : [-0.00046409 0.00278182 -0.00305266] Estimating motion at time frame 12/121... Optimization terminated successfully. Current function value: -6.238657 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.05338695 0.06695331 0.04210176] rotation : [-0.00150384 0.00244329 -0.00240441] Estimating motion at time frame 13/121... Optimization terminated successfully. Current function value: -6.239197 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.065621 0.05101491 0.03134735] rotation : [-0.00114364 0.001687 -0.00297959] Estimating motion at time frame 14/121... Optimization terminated successfully. Current function value: -6.239457 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.08133029 0.00903434 0.06158855] rotation : [ -8.41927920e-05 6.33589359e-04 -1.26310163e-03] Estimating motion at time frame 15/121... Optimization terminated successfully. Current function value: -6.239630 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.07564025 0.04449152 0.02422122] rotation : [-0.00091793 0.00041904 -0.00050127] Estimating motion at time frame 16/121... Optimization terminated successfully. Current function value: -6.239928 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.08402639 0.04136186 0.01026489] rotation : [-0.00139998 0.00088771 -0.00160433] Estimating motion at time frame 17/121... Optimization terminated successfully. Current function value: -6.240442 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.09475403 0.03110026 0.01365793] rotation : [-0.00179355 0.00155799 -0.0021775 ] Estimating motion at time frame 18/121... Optimization terminated successfully. Current function value: -6.241114 Iterations: 10 Function evaluations: 29 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.04055847 -0.00072108 0.03240029] rotation : [-0.00122351 0.00266859 -0.0026741 ] Estimating motion at time frame 19/121... Optimization terminated successfully. Current function value: -6.241326 Iterations: 7 Function evaluations: 14 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.05106579 0.0271263 0.00055459] rotation : [-0.00122936 0.00170747 -0.00069849] Estimating motion at time frame 20/121... Optimization terminated successfully. Current function value: -6.241532 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.06391328 0.06223062 -0.00997077] rotation : [-0.00147092 0.00083823 -0.00069011] Estimating motion at time frame 21/121... Optimization terminated successfully. Current function value: -6.242245 Iterations: 11 Function evaluations: 48 Gradient evaluations: 11 Hessian evaluations: 11 translation : [ 0.04988672 0.06107668 0.02360532] rotation : [-0.00107107 0.00226381 -0.00322457] Estimating motion at time frame 22/121... Optimization terminated successfully. Current function value: -6.242863 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.06071055 0.08175623 0.04275734] rotation : [-0.0004427 0.00216792 -0.00262428] Estimating motion at time frame 23/121... Optimization terminated successfully. Current function value: -6.243391 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.04808851 0.10466316 0.00936531] rotation : [-0.00193719 0.0016874 -0.00222875] Estimating motion at time frame 24/121... Optimization terminated successfully. Current function value: -6.244223 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.04936955 0.13153549 0.0194837 ] rotation : [-0.0019608 0.00248492 -0.00259026] Estimating motion at time frame 25/121... Optimization terminated successfully. Current function value: -6.244689 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.04101567 0.09032737 0.03450237] rotation : [-0.00058128 0.00189287 -0.00216156] Estimating motion at time frame 26/121... Optimization terminated successfully. Current function value: -6.244920 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.04742626 0.086552 0.04277334] rotation : [-0.0008517 0.00085971 -0.00095615] Estimating motion at time frame 27/121... Optimization terminated successfully. Current function value: -6.245172 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.04978739 0.08637279 0.01726275] rotation : [-0.00100685 0.00104889 -0.00138639] Estimating motion at time frame 28/121... Optimization terminated successfully. Current function value: -6.245714 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.03279571 0.09615505 0.00593713] rotation : [-0.00103507 0.00189267 -0.00259049] Estimating motion at time frame 29/121... Optimization terminated successfully. Current function value: -6.246218 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.04396378 0.07894392 -0.00125892] rotation : [-0.00115627 0.00143768 -0.00298827] Estimating motion at time frame 30/121... Optimization terminated successfully. Current function value: -6.246637 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.0660508 0.05286477 0.01305228] rotation : [-0.00114233 0.00196406 -0.00207181] Estimating motion at time frame 31/121... Optimization terminated successfully. Current function value: -6.247084 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.09729784 0.04194111 0.0015678 ] rotation : [-0.00121301 0.0019433 -0.00195455] Estimating motion at time frame 32/121... Optimization terminated successfully. Current function value: -6.247752 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.12783477 0.01569704 0.01534836] rotation : [-0.00191041 0.00143087 -0.00242989] Estimating motion at time frame 33/121... Optimization terminated successfully. Current function value: -6.248190 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.0946993 0.0083408 0.01147504] rotation : [-0.00160914 0.00095296 -0.00219423] Estimating motion at time frame 34/121... Optimization terminated successfully. Current function value: -6.248398 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.06401379 0.0031143 0.00774993] rotation : [-0.00121185 0.00145649 -0.00059329] Estimating motion at time frame 35/121... Optimization terminated successfully. Current function value: -6.248688 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.07207341 0.03531322 0.00315252] rotation : [-0.00134662 0.00193067 -0.00060946] Estimating motion at time frame 36/121... Optimization terminated successfully. Current function value: -6.248979 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.06527982 0.03665195 0.01239606] rotation : [-0.00144513 0.00161157 -0.0012237 ] Estimating motion at time frame 37/121... Optimization terminated successfully. Current function value: -6.249391 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.06753383 0.04112264 -0.01473138] rotation : [-0.00138357 0.00206777 -0.00198453] Estimating motion at time frame 38/121... Optimization terminated successfully. Current function value: -6.250104 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.06207367 0.07646453 -0.00823514] rotation : [-0.00073724 0.00283231 -0.00281993] Estimating motion at time frame 39/121... Optimization terminated successfully. Current function value: -6.250589 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.04420616 0.08443218 0.00565777] rotation : [-0.00023606 0.00206399 -0.00232473] Estimating motion at time frame 40/121... Optimization terminated successfully. Current function value: -6.250831 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.05981024 0.08125197 0.02907032] rotation : [-0.00070944 0.00095977 -0.0012444 ] Estimating motion at time frame 41/121... Optimization terminated successfully. Current function value: -6.251002 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.04562481 0.08388892 0.0173778 ] rotation : [-0.00090366 0.00039676 -0.00086676] Estimating motion at time frame 42/121... Optimization terminated successfully. Current function value: -6.251219 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.04141787 0.07179302 0.01945288] rotation : [-0.00156528 0.00028405 -0.00107883] Estimating motion at time frame 43/121... Optimization terminated successfully. Current function value: -6.251528 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.05849286 0.05966207 0.00888164] rotation : [-0.00170638 0.00127568 -0.00139644] Estimating motion at time frame 44/121... Optimization terminated successfully. Current function value: -6.251746 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.06150251 0.03359313 0.01072147] rotation : [-0.0011392 0.00116635 -0.00132572] Estimating motion at time frame 45/121... Optimization terminated successfully. Current function value: -6.251988 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.06719649 0.01640111 0.02186403] rotation : [-0.00152089 0.00016341 -0.00100615] Estimating motion at time frame 46/121... Optimization terminated successfully. Current function value: -6.252244 Iterations: 6 Function evaluations: 10 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.07364443 0.00486995 0.02715408] rotation : [-0.00139725 -0.00019255 0.00010548] Estimating motion at time frame 47/121... Optimization terminated successfully. Current function value: -6.252393 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.05410682 0.01228795 0.00757718] rotation : [-0.00103179 0.00118967 -0.0006771 ] Estimating motion at time frame 48/121... Optimization terminated successfully. Current function value: -6.252682 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.06903241 -0.00041679 -0.00171434] rotation : [-0.00050884 0.00198261 -0.00156823] Estimating motion at time frame 49/121... Optimization terminated successfully. Current function value: -6.253007 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.07318316 0.01540697 -0.00072898] rotation : [-0.00115023 0.00163357 -0.00183896] Estimating motion at time frame 50/121... Optimization terminated successfully. Current function value: -6.253261 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.08036641 0.02275932 -0.00038109] rotation : [-0.00136086 0.00102118 -0.0011162 ] Estimating motion at time frame 51/121... Optimization terminated successfully. Current function value: -6.253512 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.09510265 0.02879701 -0.00359076] rotation : [-0.00105605 0.0001095 -0.00063819] Estimating motion at time frame 52/121... Optimization terminated successfully. Current function value: -6.253910 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.0890555 0.08316911 0.00321044] rotation : [-0.00180929 0.00042326 -0.00146206] Estimating motion at time frame 53/121... Optimization terminated successfully. Current function value: -6.254253 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.05301937 0.08832589 0.02252406] rotation : [-0.00163929 0.0006754 -0.00167777] Estimating motion at time frame 54/121... Optimization terminated successfully. Current function value: -6.254787 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.07665849 0.07812911 0.01488443] rotation : [-0.00175515 0.00152688 -0.00239155] Estimating motion at time frame 55/121... Optimization terminated successfully. Current function value: -6.255345 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.10615686 0.06677708 0.01971862] rotation : [-0.00164334 0.0022423 -0.00154506] Estimating motion at time frame 56/121... Optimization terminated successfully. Current function value: -6.255738 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.07953384 0.09492814 -0.00124501] rotation : [-0.00169357 0.00142822 -0.00129684] Estimating motion at time frame 57/121... Optimization terminated successfully. Current function value: -6.255972 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.05493044 0.08681759 0.00869778] rotation : [ -1.68440039e-04 -4.37408821e-05 -1.36115783e-03] Estimating motion at time frame 58/121... Optimization terminated successfully. Current function value: -6.256279 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.07012222 0.09738251 0.01148545] rotation : [-0.00059864 0.00058505 -0.00165494] Estimating motion at time frame 59/121... Optimization terminated successfully. Current function value: -6.256656 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.06365562 0.08515206 0.00557216] rotation : [-0.00149721 0.00120295 -0.0022745 ] Estimating motion at time frame 60/121... Optimization terminated successfully. Current function value: -6.256924 Iterations: 7 Function evaluations: 11 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.05140845 0.06887741 0.01422709] rotation : [-0.00162994 0.00108643 -0.00118339] Estimating motion at time frame 61/121... Optimization terminated successfully. Current function value: -6.257164 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.08863064 0.03957472 -0.00403691] rotation : [-0.00066222 0.0013764 -0.00103643] Estimating motion at time frame 62/121... Optimization terminated successfully. Current function value: -6.257431 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.09079453 0.08681764 -0.00580222] rotation : [-0.00027271 0.00080759 -0.00046947] Estimating motion at time frame 63/121... Optimization terminated successfully. Current function value: -6.257632 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.02440901 0.09803694 0.0226198 ] rotation : [-0.00095008 0.00074704 -0.00080478] Estimating motion at time frame 64/121... Optimization terminated successfully. Current function value: -6.257860 Iterations: 5 Function evaluations: 6 Gradient evaluations: 5 Hessian evaluations: 5 translation : [ 0.02816799 0.09626948 0.02524006] rotation : [-0.0010581 0.00098978 -0.00082998] Estimating motion at time frame 65/121... Optimization terminated successfully. Current function value: -6.258101 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.06821181 0.09119939 0.00503771] rotation : [-0.00092308 0.00063371 -0.00107866] Estimating motion at time frame 66/121... Optimization terminated successfully. Current function value: -6.258379 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.061189 0.08960167 -0.01081194] rotation : [ 0.0002089 0.00109098 -0.00120167] Estimating motion at time frame 67/121... Optimization terminated successfully. Current function value: -6.258815 Iterations: 7 Function evaluations: 14 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.03994102 0.11743324 0.00371308] rotation : [ 0.00050593 0.00132677 -0.00142582] Estimating motion at time frame 68/121... Optimization terminated successfully. Current function value: -6.259011 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.05100474 0.07967833 0.03467865] rotation : [ -8.99534312e-04 5.84183275e-05 -8.87998991e-04] Estimating motion at time frame 69/121... Optimization terminated successfully. Current function value: -6.259306 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.06313383 0.04910031 0.01508577] rotation : [-0.00204349 0.00057117 -0.00085268] Estimating motion at time frame 70/121... Optimization terminated successfully. Current function value: -6.259727 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.04063606 0.05659403 -0.00179231] rotation : [-0.00197692 0.00114706 -0.0021358 ] Estimating motion at time frame 71/121... Optimization terminated successfully. Current function value: -6.259934 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.01356458 0.06548348 -0.0082509 ] rotation : [-0.00025811 0.00047022 -0.00197593] Estimating motion at time frame 72/121... Optimization terminated successfully. Current function value: -6.260125 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.03655798 0.04230064 -0.00288208] rotation : [ 4.69256344e-06 4.47242752e-04 -2.04594078e-03] Estimating motion at time frame 73/121... Optimization terminated successfully. Current function value: -6.260345 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.01883579 0.04224777 -0.02157423] rotation : [-0.00108987 0.00122011 -0.00159342] Estimating motion at time frame 74/121... Optimization terminated successfully. Current function value: -6.260594 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.00915303 0.03577594 -0.02508677] rotation : [-0.00059007 0.00151025 -0.00158937] Estimating motion at time frame 75/121... Optimization terminated successfully. Current function value: -6.260736 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.03518211 0.02491359 -0.01051802] rotation : [-0.00076327 0.00118711 -0.00122177] Estimating motion at time frame 76/121... Optimization terminated successfully. Current function value: -6.260976 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.02385258 -0.00376197 -0.00824012] rotation : [-0.00075588 0.00194379 -0.00109114] Estimating motion at time frame 77/121... Optimization terminated successfully. Current function value: -6.261256 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.0038264 0.01507509 -0.05237516] rotation : [-0.00113635 0.00185182 -0.00095407] Estimating motion at time frame 78/121... Optimization terminated successfully. Current function value: -6.261430 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.00901972 0.01384602 -0.03408313] rotation : [-0.00130392 0.00099368 -0.00075183] Estimating motion at time frame 79/121... Optimization terminated successfully. Current function value: -6.261771 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.00855141 -0.00746364 -0.04099544] rotation : [-0.00119573 0.00168016 -0.00169187] Estimating motion at time frame 80/121... Optimization terminated successfully. Current function value: -6.261971 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.00172786 0.03210097 -0.04348428] rotation : [-0.00125879 0.0012676 -0.00085442] Estimating motion at time frame 81/121... Optimization terminated successfully. Current function value: -6.262416 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.00481503 0.05004232 -0.04384281] rotation : [-0.00192991 0.00200978 -0.00112746] Estimating motion at time frame 82/121... Optimization terminated successfully. Current function value: -6.262634 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.01712107 0.05893355 -0.02231939] rotation : [-0.00121284 0.00041921 -0.00154504] Estimating motion at time frame 83/121... Optimization terminated successfully. Current function value: -6.262785 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.00314738 0.03581211 -0.00719289] rotation : [-0.00033494 0.00107851 -0.001358 ] Estimating motion at time frame 84/121... Optimization terminated successfully. Current function value: -6.262927 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.00550873 0.0301759 -0.03876229] rotation : [ 0.00011474 0.00104103 -0.00115769] Estimating motion at time frame 85/121... Optimization terminated successfully. Current function value: -6.262960 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.00383364 -0.00571865 -0.02815694] rotation : [-0.0002396 0.00012852 -0.00070836] Estimating motion at time frame 86/121... Optimization terminated successfully. Current function value: -6.263113 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.00844033 -0.00251681 -0.0560241 ] rotation : [-0.00079988 0.00013673 -0.00141199] Estimating motion at time frame 87/121... Optimization terminated successfully. Current function value: -6.263424 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.04397335 0.04087934 -0.0488733 ] rotation : [-0.00048643 0.00112468 -0.00147537] Estimating motion at time frame 88/121... Optimization terminated successfully. Current function value: -6.263847 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.05443355 0.01102065 -0.04163745] rotation : [-0.00147874 0.00151981 -0.00073655] Estimating motion at time frame 89/121... Optimization terminated successfully. Current function value: -6.264227 Iterations: 9 Function evaluations: 10 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.0137017 0.00155435 -0.06099358] rotation : [-0.00153089 0.00187436 -0.00139481] Estimating motion at time frame 90/121... Optimization terminated successfully. Current function value: -6.264396 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.03369056 -0.01212639 -0.05550729] rotation : [ 0.00064029 0.00081929 -0.00136932] Estimating motion at time frame 91/121... Optimization terminated successfully. Current function value: -6.264576 Iterations: 7 Function evaluations: 9 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.01273073 -0.03935784 -0.03533869] rotation : [-0.00066981 0.00046175 -0.00175187] Estimating motion at time frame 92/121... Optimization terminated successfully. Current function value: -6.264799 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.00123724 -0.00244461 -0.01482723] rotation : [-0.00131161 0.00122619 -0.00121196] Estimating motion at time frame 93/121... Optimization terminated successfully. Current function value: -6.265075 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.01687181 -0.02739558 -0.04418942] rotation : [-0.00116768 0.00134481 -0.0011268 ] Estimating motion at time frame 94/121... Optimization terminated successfully. Current function value: -6.265293 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.02550994 -0.00388278 -0.05670067] rotation : [-0.00048232 0.0010919 -0.00111134] Estimating motion at time frame 95/121... Optimization terminated successfully. Current function value: -6.265602 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [-0.04333048 0.0242291 -0.02942412] rotation : [ 0.0005366 0.00128512 -0.00129498] Estimating motion at time frame 96/121... Optimization terminated successfully. Current function value: -6.265652 Iterations: 11 Function evaluations: 12 Gradient evaluations: 11 Hessian evaluations: 11 translation : [ 0.0038564 0.00696313 -0.03488493] rotation : [-0.00017782 0.00061746 -0.00074607] Estimating motion at time frame 97/121... Optimization terminated successfully. Current function value: -6.265676 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.01580987 -0.00526898 -0.01970099] rotation : [-0.00040239 0.00035874 -0.00015379] Estimating motion at time frame 98/121... Optimization terminated successfully. Current function value: -6.265775 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.03939152 -0.00252149 -0.04152317] rotation : [-0.00010382 0.00047695 -0.00027781] Estimating motion at time frame 99/121... Optimization terminated successfully. Current function value: -6.265969 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [-0.02264445 -0.03513545 -0.03775616] rotation : [-0.00087369 -0.00145602 -0.00037422] Estimating motion at time frame 100/121... Optimization terminated successfully. Current function value: -6.266219 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [-0.00522399 -0.01944848 -0.04969151] rotation : [-0.00124307 -0.00104335 -0.00123545] Estimating motion at time frame 101/121... Optimization terminated successfully. Current function value: -6.266386 Iterations: 8 Function evaluations: 14 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.03083065 -0.01543366 -0.06430479] rotation : [-0.00048379 -0.00111901 -0.00055372] Estimating motion at time frame 102/121... Optimization terminated successfully. Current function value: -6.266607 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [-0.01287267 -0.02221365 -0.07095766] rotation : [ -2.81356820e-05 -1.65226936e-03 1.21998863e-05] Estimating motion at time frame 103/121... Optimization terminated successfully. Current function value: -6.266746 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [-0.01140426 -0.04935094 -0.02589236] rotation : [ -1.19033106e-04 -1.47053143e-03 4.63962468e-05] Estimating motion at time frame 104/121... Optimization terminated successfully. Current function value: -6.266997 Iterations: 9 Function evaluations: 11 Gradient evaluations: 9 Hessian evaluations: 9 translation : [ 0.01189447 -0.0749376 -0.04867406] rotation : [ -1.56001033e-04 -1.45246059e-03 -6.05109042e-05] Estimating motion at time frame 105/121... Optimization terminated successfully. Current function value: -6.267223 Iterations: 12 Function evaluations: 13 Gradient evaluations: 12 Hessian evaluations: 12 translation : [ 0.01074166 -0.07342572 -0.06813963] rotation : [ 0.00068774 -0.00103643 -0.00011251] Estimating motion at time frame 106/121... Optimization terminated successfully. Current function value: -6.267454 Iterations: 12 Function evaluations: 13 Gradient evaluations: 12 Hessian evaluations: 12 translation : [ 0.01612614 -0.04847578 -0.02404427] rotation : [ 0.00030053 -0.00172206 0.00075894] Estimating motion at time frame 107/121... Optimization terminated successfully. Current function value: -6.267548 Iterations: 8 Function evaluations: 16 Gradient evaluations: 8 Hessian evaluations: 8 translation : [ 0.00270652 -0.04660136 -0.04077648] rotation : [ 0.000855 -0.00040705 0.00012317] Estimating motion at time frame 108/121... Optimization terminated successfully. Current function value: -6.267728 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.01133377 -0.07824919 -0.06101175] rotation : [ 0.00107868 0.00015115 0.00028908] Estimating motion at time frame 109/121... Optimization terminated successfully. Current function value: -6.267855 Iterations: 12 Function evaluations: 13 Gradient evaluations: 12 Hessian evaluations: 12 translation : [-0.00098519 -0.05691265 -0.05627393] rotation : [-0.00018433 0.00014404 0.00051418] Estimating motion at time frame 110/121... Optimization terminated successfully. Current function value: -6.267983 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [ 0.01807697 -0.01898413 -0.02839673] rotation : [-0.00051442 -0.00095525 0.00082246] Estimating motion at time frame 111/121... Optimization terminated successfully. Current function value: -6.268156 Iterations: 11 Function evaluations: 12 Gradient evaluations: 11 Hessian evaluations: 11 translation : [-0.0287268 -0.03453731 -0.05730409] rotation : [ -5.94014656e-05 -2.90817307e-04 1.55955499e-03] Estimating motion at time frame 112/121... Optimization terminated successfully. Current function value: -6.268471 Iterations: 13 Function evaluations: 14 Gradient evaluations: 13 Hessian evaluations: 13 translation : [-0.0189768 -0.08990759 -0.048834 ] rotation : [ 0.00033243 -0.00124208 0.00197982] Estimating motion at time frame 113/121... Optimization terminated successfully. Current function value: -6.268848 Iterations: 15 Function evaluations: 16 Gradient evaluations: 15 Hessian evaluations: 15 translation : [ 0.02122867 -0.08448683 -0.03509547] rotation : [ -7.79673167e-05 -1.77331728e-03 1.48254840e-03] Estimating motion at time frame 114/121... Optimization terminated successfully. Current function value: -6.269001 Iterations: 12 Function evaluations: 13 Gradient evaluations: 12 Hessian evaluations: 12 translation : [-0.01779981 -0.04777772 -0.04415282] rotation : [ 0.00063578 -0.00122383 0.00099418] Estimating motion at time frame 115/121... Optimization terminated successfully. Current function value: -6.269204 Iterations: 14 Function evaluations: 15 Gradient evaluations: 14 Hessian evaluations: 14 translation : [-0.05455476 -0.06039205 -0.07032252] rotation : [ 0.0004251 -0.00063709 0.00070238] Estimating motion at time frame 116/121... Optimization terminated successfully. Current function value: -6.269426 Iterations: 14 Function evaluations: 15 Gradient evaluations: 14 Hessian evaluations: 14 translation : [-0.00323338 -0.0143498 -0.0499116 ] rotation : [-0.00060287 -0.00200077 0.00069335] Estimating motion at time frame 117/121... Optimization terminated successfully. Current function value: -6.269687 Iterations: 16 Function evaluations: 17 Gradient evaluations: 16 Hessian evaluations: 16 translation : [-0.06525326 -0.01488982 -0.06911156] rotation : [-0.00045193 -0.00142579 0.00145967] Estimating motion at time frame 118/121... Optimization terminated successfully. Current function value: -6.270018 Iterations: 12 Function evaluations: 14 Gradient evaluations: 12 Hessian evaluations: 12 translation : [-0.0656423 -0.05013085 -0.09102045] rotation : [-0.00061034 -0.00033217 0.00113868] Estimating motion at time frame 119/121... Optimization terminated successfully. Current function value: -6.270278 Iterations: 13 Function evaluations: 14 Gradient evaluations: 13 Hessian evaluations: 13 translation : [-0.03092427 -0.04232494 -0.07515309] rotation : [-0.00038759 -0.00023646 0.00178322] Estimating motion at time frame 120/121... Optimization terminated successfully. Current function value: -6.270518 Iterations: 10 Function evaluations: 11 Gradient evaluations: 10 Hessian evaluations: 10 translation : [-0.02451544 -0.07225927 -0.07883558] rotation : [ 6.77486104e-04 -5.53343155e-06 1.01158048e-03] Estimating motion at time frame 121/121... Optimization terminated successfully. Current function value: -6.270815 Iterations: 8 Function evaluations: 9 Gradient evaluations: 8 Hessian evaluations: 8 translation : [-0.0696038 -0.07214494 -0.05812192] rotation : [ 1.35152485e-03 -4.90508790e-05 9.62765446e-04] Gridding... Fully resampling scan 1/121 Fully resampling scan 2/121 Fully resampling scan 3/121 Fully resampling scan 4/121 Fully resampling scan 5/121 Fully resampling scan 6/121 Fully resampling scan 7/121 Fully resampling scan 8/121 Fully resampling scan 9/121 Fully resampling scan 10/121 Fully resampling scan 11/121 Fully resampling scan 12/121 Fully resampling scan 13/121 Fully resampling scan 14/121 Fully resampling scan 15/121 Fully resampling scan 16/121 Fully resampling scan 17/121 Fully resampling scan 18/121 Fully resampling scan 19/121 Fully resampling scan 20/121 Fully resampling scan 21/121 Fully resampling scan 22/121 Fully resampling scan 23/121 Fully resampling scan 24/121 Fully resampling scan 25/121 Fully resampling scan 26/121 Fully resampling scan 27/121 Fully resampling scan 28/121 Fully resampling scan 29/121 Fully resampling scan 30/121 Fully resampling scan 31/121 Fully resampling scan 32/121 Fully resampling scan 33/121 Fully resampling scan 34/121 Fully resampling scan 35/121 Fully resampling scan 36/121 Fully resampling scan 37/121 Fully resampling scan 38/121 Fully resampling scan 39/121 Fully resampling scan 40/121 Fully resampling scan 41/121 Fully resampling scan 42/121 Fully resampling scan 43/121 Fully resampling scan 44/121 Fully resampling scan 45/121 Fully resampling scan 46/121 Fully resampling scan 47/121 Fully resampling scan 48/121 Fully resampling scan 49/121 Fully resampling scan 50/121 Fully resampling scan 51/121 Fully resampling scan 52/121 Fully resampling scan 53/121 Fully resampling scan 54/121 Fully resampling scan 55/121 Fully resampling scan 56/121 Fully resampling scan 57/121 Fully resampling scan 58/121 Fully resampling scan 59/121 Fully resampling scan 60/121 Fully resampling scan 61/121 Fully resampling scan 62/121 Fully resampling scan 63/121 Fully resampling scan 64/121 Fully resampling scan 65/121 Fully resampling scan 66/121 Fully resampling scan 67/121 Fully resampling scan 68/121 Fully resampling scan 69/121 Fully resampling scan 70/121 Fully resampling scan 71/121 Fully resampling scan 72/121 Fully resampling scan 73/121 Fully resampling scan 74/121 Fully resampling scan 75/121 Fully resampling scan 76/121 Fully resampling scan 77/121 Fully resampling scan 78/121 Fully resampling scan 79/121 Fully resampling scan 80/121 Fully resampling scan 81/121 Fully resampling scan 82/121 Fully resampling scan 83/121 Fully resampling scan 84/121 Fully resampling scan 85/121 Fully resampling scan 86/121 Fully resampling scan 87/121 Fully resampling scan 88/121 Fully resampling scan 89/121 Fully resampling scan 90/121 Fully resampling scan 91/121 Fully resampling scan 92/121 Fully resampling scan 93/121 Fully resampling scan 94/121 Fully resampling scan 95/121 Fully resampling scan 96/121 Fully resampling scan 97/121 Fully resampling scan 98/121 Fully resampling scan 99/121 Fully resampling scan 100/121 Fully resampling scan 101/121 Fully resampling scan 102/121 Fully resampling scan 103/121 Fully resampling scan 104/121 Fully resampling scan 105/121 Fully resampling scan 106/121 Fully resampling scan 107/121 Fully resampling scan 108/121 Fully resampling scan 109/121 Fully resampling scan 110/121 Fully resampling scan 111/121 Fully resampling scan 112/121 Fully resampling scan 113/121 Fully resampling scan 114/121 Fully resampling scan 115/121 Fully resampling scan 116/121 Fully resampling scan 117/121 Fully resampling scan 118/121 Fully resampling scan 119/121 Fully resampling scan 120/121 Fully resampling scan 121/121 Gridding... Fully resampling scan 1/121 Fully resampling scan 2/121 Fully resampling scan 3/121 Fully resampling scan 4/121 Fully resampling scan 5/121 Fully resampling scan 6/121 Fully resampling scan 7/121 Fully resampling scan 8/121 Fully resampling scan 9/121 Fully resampling scan 10/121 Fully resampling scan 11/121 Fully resampling scan 12/121 Fully resampling scan 13/121 Fully resampling scan 14/121 Fully resampling scan 15/121 Fully resampling scan 16/121 Fully resampling scan 17/121 Fully resampling scan 18/121 Fully resampling scan 19/121 Fully resampling scan 20/121 Fully resampling scan 21/121 Fully resampling scan 22/121 Fully resampling scan 23/121 Fully resampling scan 24/121 Fully resampling scan 25/121 Fully resampling scan 26/121 Fully resampling scan 27/121 Fully resampling scan 28/121 Fully resampling scan 29/121 Fully resampling scan 30/121 Fully resampling scan 31/121 Fully resampling scan 32/121 Fully resampling scan 33/121 Fully resampling scan 34/121 Fully resampling scan 35/121 Fully resampling scan 36/121 Fully resampling scan 37/121 Fully resampling scan 38/121 Fully resampling scan 39/121 Fully resampling scan 40/121 Fully resampling scan 41/121 Fully resampling scan 42/121 Fully resampling scan 43/121 Fully resampling scan 44/121 Fully resampling scan 45/121 Fully resampling scan 46/121 Fully resampling scan 47/121 Fully resampling scan 48/121 Fully resampling scan 49/121 Fully resampling scan 50/121 Fully resampling scan 51/121 Fully resampling scan 52/121 Fully resampling scan 53/121 Fully resampling scan 54/121 Fully resampling scan 55/121 Fully resampling scan 56/121 Fully resampling scan 57/121 Fully resampling scan 58/121 Fully resampling scan 59/121 Fully resampling scan 60/121 Fully resampling scan 61/121 Fully resampling scan 62/121 Fully resampling scan 63/121 Fully resampling scan 64/121 Fully resampling scan 65/121 Fully resampling scan 66/121 Fully resampling scan 67/121 Fully resampling scan 68/121 Fully resampling scan 69/121 Fully resampling scan 70/121 Fully resampling scan 71/121 Fully resampling scan 72/121 Fully resampling scan 73/121 Fully resampling scan 74/121 Fully resampling scan 75/121 Fully resampling scan 76/121 Fully resampling scan 77/121 Fully resampling scan 78/121 Fully resampling scan 79/121 Fully resampling scan 80/121 Fully resampling scan 81/121 Fully resampling scan 82/121 Fully resampling scan 83/121 Fully resampling scan 84/121 Fully resampling scan 85/121 Fully resampling scan 86/121 Fully resampling scan 87/121 Fully resampling scan 88/121 Fully resampling scan 89/121 Fully resampling scan 90/121 Fully resampling scan 91/121 Fully resampling scan 92/121 Fully resampling scan 93/121 Fully resampling scan 94/121 Fully resampling scan 95/121 Fully resampling scan 96/121 Fully resampling scan 97/121 Fully resampling scan 98/121 Fully resampling scan 99/121 Fully resampling scan 100/121 Fully resampling scan 101/121 Fully resampling scan 102/121 Fully resampling scan 103/121 Fully resampling scan 104/121 Fully resampling scan 105/121 Fully resampling scan 106/121 Fully resampling scan 107/121 Fully resampling scan 108/121 Fully resampling scan 109/121 Fully resampling scan 110/121 Fully resampling scan 111/121 Fully resampling scan 112/121 Fully resampling scan 113/121 Fully resampling scan 114/121 Fully resampling scan 115/121 Fully resampling scan 116/121 Fully resampling scan 117/121 Fully resampling scan 118/121 Fully resampling scan 119/121 Fully resampling scan 120/121 Fully resampling scan 121/121 Resampling scan 1/2 Resampling scan 2/2 Estimating motion at time frame 1/2... Optimization terminated successfully. Current function value: -6.883084 Iterations: 6 Function evaluations: 7 Gradient evaluations: 6 Hessian evaluations: 6 translation : [ 0.10473759 0.00573426 0.04484346] rotation : [ -9.62102575e-06 1.04809448e-04 1.31232903e-03] Estimating motion at time frame 2/2... Optimization terminated successfully. Current function value: -6.886895 Iterations: 7 Function evaluations: 8 Gradient evaluations: 7 Hessian evaluations: 7 translation : [ 0.00294511 -0.00222695 -0.01274325] rotation : [-0.0001774 -0.00063486 -0.00053491]
Resample first run using motion estimates:
resample_run0 = R.resample(0)
Gridding... Fully resampling scan 1/121 Fully resampling scan 2/121 Fully resampling scan 3/121 Fully resampling scan 4/121 Fully resampling scan 5/121 Fully resampling scan 6/121 Fully resampling scan 7/121 Fully resampling scan 8/121 Fully resampling scan 9/121 Fully resampling scan 10/121 Fully resampling scan 11/121 Fully resampling scan 12/121 Fully resampling scan 13/121 Fully resampling scan 14/121 Fully resampling scan 15/121 Fully resampling scan 16/121 Fully resampling scan 17/121 Fully resampling scan 18/121 Fully resampling scan 19/121 Fully resampling scan 20/121 Fully resampling scan 21/121 Fully resampling scan 22/121 Fully resampling scan 23/121 Fully resampling scan 24/121 Fully resampling scan 25/121 Fully resampling scan 26/121 Fully resampling scan 27/121 Fully resampling scan 28/121 Fully resampling scan 29/121 Fully resampling scan 30/121 Fully resampling scan 31/121 Fully resampling scan 32/121 Fully resampling scan 33/121 Fully resampling scan 34/121 Fully resampling scan 35/121 Fully resampling scan 36/121 Fully resampling scan 37/121 Fully resampling scan 38/121 Fully resampling scan 39/121 Fully resampling scan 40/121 Fully resampling scan 41/121 Fully resampling scan 42/121 Fully resampling scan 43/121 Fully resampling scan 44/121 Fully resampling scan 45/121 Fully resampling scan 46/121 Fully resampling scan 47/121 Fully resampling scan 48/121 Fully resampling scan 49/121 Fully resampling scan 50/121 Fully resampling scan 51/121 Fully resampling scan 52/121 Fully resampling scan 53/121 Fully resampling scan 54/121 Fully resampling scan 55/121 Fully resampling scan 56/121 Fully resampling scan 57/121 Fully resampling scan 58/121 Fully resampling scan 59/121 Fully resampling scan 60/121 Fully resampling scan 61/121 Fully resampling scan 62/121 Fully resampling scan 63/121 Fully resampling scan 64/121 Fully resampling scan 65/121 Fully resampling scan 66/121 Fully resampling scan 67/121 Fully resampling scan 68/121 Fully resampling scan 69/121 Fully resampling scan 70/121 Fully resampling scan 71/121 Fully resampling scan 72/121 Fully resampling scan 73/121 Fully resampling scan 74/121 Fully resampling scan 75/121 Fully resampling scan 76/121 Fully resampling scan 77/121 Fully resampling scan 78/121 Fully resampling scan 79/121 Fully resampling scan 80/121 Fully resampling scan 81/121 Fully resampling scan 82/121 Fully resampling scan 83/121 Fully resampling scan 84/121 Fully resampling scan 85/121 Fully resampling scan 86/121 Fully resampling scan 87/121 Fully resampling scan 88/121 Fully resampling scan 89/121 Fully resampling scan 90/121 Fully resampling scan 91/121 Fully resampling scan 92/121 Fully resampling scan 93/121 Fully resampling scan 94/121 Fully resampling scan 95/121 Fully resampling scan 96/121 Fully resampling scan 97/121 Fully resampling scan 98/121 Fully resampling scan 99/121 Fully resampling scan 100/121 Fully resampling scan 101/121 Fully resampling scan 102/121 Fully resampling scan 103/121 Fully resampling scan 104/121 Fully resampling scan 105/121 Fully resampling scan 106/121 Fully resampling scan 107/121 Fully resampling scan 108/121 Fully resampling scan 109/121 Fully resampling scan 110/121 Fully resampling scan 111/121 Fully resampling scan 112/121 Fully resampling scan 113/121 Fully resampling scan 114/121 Fully resampling scan 115/121 Fully resampling scan 116/121 Fully resampling scan 117/121 Fully resampling scan 118/121 Fully resampling scan 119/121 Fully resampling scan 120/121 Fully resampling scan 121/121
transforms0 = R._transforms[0]
motion_trans_rotvec = np.vstack([t.param * t.precond[:6] for t in transforms0])
from nipy.externals.transforms3d import taitbryan
from nipy.algorithms.registration.affine import rotation_vec2mat
motion_trans_euler = motion_trans_rotvec.copy()
for scan_no in range(motion_trans_rotvec.shape[0]):
rot_mat = rotation_vec2mat(motion_trans_rotvec[scan_no, 3:])
euler_angles = taitbryan.mat2euler(rot_mat)
motion_trans_euler[scan_no, 3:] = euler_angles
fig, axes = plt.subplots(2, 1)
axes[0].plot(motion_trans_rotvec[:, :3])
axes[0].set_ylabel('translation (mm)')
axes[1].plot(motion_trans_rotvec[:, 3:])
axes[1].set_xlabel('time (TR)')
axes[1].set_ylabel('rotation (radians)')
<matplotlib.text.Text at 0x50a9e50>
Make standard deviation images before and after registration:
before_var = np.std(run_imgs[0].get_data(), axis=-1)
after_var = np.std(resample_run0.get_data(), axis=-1)
fig = figure()
fig.set_size_inches(10.5,18.5)
plt.imshow(np.hstack((before_var[..., 40], after_var[..., 40])), cmap="gray", interpolation='nearest')
<matplotlib.image.AxesImage at 0x7f558834cf90>
from subprocess import check_call
check_call('fsl4.1-mcflirt -in %s -plots' % run_fnames[0], shell=True)
0
pth, fname = os.path.split(run_fnames[0])
par_fname = os.path.join(pth, 'bold_mcf.par')
params = np.loadtxt(par_fname)
fix, axes = plt.subplots(2, 1)
axes[0].plot(params[:, :3])
axes[1].plot(params[:, 3:])
[<matplotlib.lines.Line2D at 0x54e0e50>, <matplotlib.lines.Line2D at 0x7f5588363590>, <matplotlib.lines.Line2D at 0x7f5588360d50>]
mcsampled_run0 = load_image(os.path.join(pth, 'bold_mcf.nii.gz'))
after_var = np.std(mcsampled_run0.get_data(), axis=-1)
fig = figure()
fig.set_size_inches(10.5,18.5)
plt.imshow(np.hstack((before_var[..., 40], after_var[..., 40])), cmap="gray", interpolation='nearest')
<matplotlib.image.AxesImage at 0x59e7190>