function [final, all_log, all_res] = calib_main_glob(cal, good_logs)
	good_logs
	log{1} = merge_experiments(cal.logs(good_logs));

	min_theta_deg = 0;
	n = 3 ; perc = 0.95;
	for i=1:n
		res{i} = full_calibration(log{i});
		log{i+1} = compute_errors(log{i}, res{i}, perc, min_theta_deg);
		res{i}.est_params';
		pause(1);
	end
	
%	view_evolution(log{n}, 20);

	final = res{n};