function [est, res] = view_evolution(log, nchunks)
	n = size(log.T,2);
	order = randperm(n);

	fprintf('view_evolution: Computing %d chunks: ', nchunks);

	res={};
	for i=1:nchunks
		fprintf(' %d ', i);
		upto =  round(n * i / nchunks);
		indexes = order(1:upto);
		log_chunk = trunc_log(log, indexes);
		res_chunk = full_calibration(log_chunk);
		res{i} = res_chunk;
		est(:,i) = res{i}.est_params;
	end
	fprintf(' done.\n');

	
	from = 1; %round(nchunks / 5);
	perc = round( (from:nchunks) * n / nchunks);
	
	figure
	nw=7; k=1;
	subplot(nw,1,k); k=k+1;
	plot(perc,est(1,from:nchunks)*1000);
	title('distance between wheels (mm)');
	xlabel('sample set size');
	
	subplot(nw,1,k); k=k+1;
	title('wheels radiuses (mm)'); hold on;
	plot(perc,est(2,from:nchunks)*1000,'b-');
	plot(perc,est(3,from:nchunks)*1000,'r-');
	hold off;
	
	subplot(nw,1,k); k=k+1;
	plot(perc,est(3,from:nchunks) ./ est(2,from:nchunks));
	title('radiuses ratio');

	subplot(nw,1,k); k=k+1;
	plot(perc,est(4,from:nchunks)*1000);
	title('laser x (mm)');

	subplot(nw,1,k); k=k+1;
	plot(perc,est(5,from:nchunks)*1000);
	title('laser y (mm)');
	
	subplot(nw,1,k); k=k+1;
	plot(perc,rad2deg(est(6,from:nchunks)));
	title('laser theta (deg)');
	
	error_measure = join(collect(res, 'error_measure'));
	subplot(nw,1,k); k=k+1;
	plot(perc,error_measure(from:nchunks));
	title('error measure');

function c = trunc_log(log, indexes)
	c.T = log.T(indexes);
	c.phi_r = log.phi_r(indexes);
	c.phi_l = log.phi_l(indexes);
	c.sm = log.sm(:,indexes);