[Insight-users] RE: Multi-resolution + MI + Evolutionary Optimizer
Li, George (NIH/NCI)
ligeorge at mail.nih.gov
Wed Jul 13 10:04:17 EDT 2005
Hi, itk users and developers:
I have done some multi-resolution image registration using Mattes matrix and
1+1Evolutionary optimizer. In the file That records all of the intermediate
metric values, it shows That the metric value consistently goes down within
each Pyramid level. However, it goes up between these levels, Consistently.
There seems something unexpected.
I enclosed one of my output files, which record the metric Values through
out a 500x3 iterations, so that you could Evaluate if there is something
wrong.
Thanks a lot.
George
Because my message was rejected due to the enclosed file size problem, I
copy&paste the output file below:
Due to the e_mail body size problem again, I manually trim off some the
repeating metric values.
****************************************************************************
*********************************
Fixed image file Name =
F:\DICOM_CTPT\Disk1\Lung_B0861\Head_1-60\B861_1-60_CT.img
Moving image file Name =
F:\DICOM_CTPT\Disk1\Lung_B0861\Head_1-60\B861_1-60_PT.img
Initial Orient:Origin = [0.00,0.00,0.00] : [0.0000,0.0000,0.0000]
Starting Registration:
Level #1
Iteratin = [ 1/ 500] Metric Value = [-0.321036] [0.0000, 0.0000,
0.0000] : [0.0000, 0.0000, 0.0000]
Iteratin = [ 2/ 500] Metric Value = [-0.327815] [-0.0050, 0.0177,
0.0027] : [3.6216, 2.8138, -2.0479]
...
Iteratin = [ 12/ 500] Metric Value = [-0.327815] [-0.0050, 0.0177,
0.0027] : [3.6216, 2.8138, -2.0479]
Iteratin = [ 13/ 500] Metric Value = [-0.341777] [-0.0043, 0.0241,
-0.0149] : [1.6914, 1.5088, -7.4198]
...
Iteratin = [ 107/ 500] Metric Value = [-0.341777] [-0.0043, 0.0241,
-0.0149] : [1.6914, 1.5088, -7.4198]
Iteratin = [ 108/ 500] Metric Value = [-0.345664] [-0.0091, 0.0142,
-0.0321] : [2.7707, 0.6314, -8.1754]
...
Iteratin = [ 229/ 500] Metric Value = [-0.345664] [-0.0091, 0.0142,
-0.0321] : [2.7707, 0.6314, -8.1754]
Iteratin = [ 230/ 500] Metric Value = [-0.345664] [-0.0091, 0.0142,
-0.0321] : [2.7707, 0.6314, -8.1754]
Iteratin = [ 231/ 500] Metric Value = [-0.345775] [-0.0169, 0.0213,
-0.0369] : [3.0281, 0.6652, -4.1502]
...
Iteratin = [ 271/ 500] Metric Value = [-0.345775] [-0.0169, 0.0213,
-0.0369] : [3.0281, 0.6652, -4.1502]
Iteratin = [ 272/ 500] Metric Value = [-0.346630] [-0.0131, 0.0157,
-0.0531] : [3.1560, -0.8322, -3.5949]
Iteratin = [ 273/ 500] Metric Value = [-0.346630] [-0.0131, 0.0157,
-0.0531] : [3.1560, -0.8322, -3.5949]
...
Iteratin = [ 297/ 500] Metric Value = [-0.346630] [-0.0131, 0.0157,
-0.0531] : [3.1560, -0.8322, -3.5949]
Iteratin = [ 298/ 500] Metric Value = [-0.349539] [-0.0104, 0.0138,
-0.0603] : [4.0882, -0.2050, -6.1849]
...
Iteratin = [ 331/ 500] Metric Value = [-0.349539] [-0.0104, 0.0138,
-0.0603] : [4.0882, -0.2050, -6.1849]
Iteratin = [ 332/ 500] Metric Value = [-0.349581] [-0.0124, 0.0136,
-0.0668] : [4.7101, -0.5907, -6.8074]
...
Iteratin = [ 342/ 500] Metric Value = [-0.349581] [-0.0124, 0.0136,
-0.0668] : [4.7101, -0.5907, -6.8074]
Iteratin = [ 343/ 500] Metric Value = [-0.350299] [-0.0188, 0.0200,
-0.0678] : [3.9130, -0.5205, -6.7627]
...
Iteratin = [ 416/ 500] Metric Value = [-0.350299] [-0.0188, 0.0200,
-0.0678] : [3.9130, -0.5205, -6.7627]
Iteratin = [ 417/ 500] Metric Value = [-0.350978] [-0.0239, 0.0203,
-0.0648] : [3.7409, 0.0742, -5.7701]
...
Iteratin = [ 500/ 500] Metric Value = [-0.350978] [-0.0239, 0.0203,
-0.0648] : [3.7409, 0.0742, -5.7701]
Level #2
Iteratin = [ 1/ 500] Metric Value = [-0.315390] [-0.0239, 0.0203,
-0.0648] : [3.7409, 0.0742, -5.7701]
Iteratin = [ 2/ 500] Metric Value = [-0.315390] [-0.0239, 0.0203,
-0.0648] : [3.7409, 0.0742, -5.7701]
Iteratin = [ 3/ 500] Metric Value = [-0.315390] [-0.0239, 0.0203,
-0.0648] : [3.7409, 0.0742, -5.7701]
Iteratin = [ 4/ 500] Metric Value = [-0.315813] [-0.0242, 0.0212,
-0.0655] : [4.0873, -0.0350, -6.1323]
Iteratin = [ 5/ 500] Metric Value = [-0.315873] [-0.0237, 0.0219,
-0.0673] : [4.0926, 0.0213, -5.1150]
Iteratin = [ 6/ 500] Metric Value = [-0.315873] [-0.0237, 0.0219,
-0.0673] : [4.0926, 0.0213, -5.1150]
Iteratin = [ 7/ 500] Metric Value = [-0.315873] [-0.0237, 0.0219,
-0.0673] : [4.0926, 0.0213, -5.1150]
Iteratin = [ 8/ 500] Metric Value = [-0.316163] [-0.0237, 0.0218,
-0.0672] : [3.9962, -0.6001, -4.7766]
Iteratin = [ 9/ 500] Metric Value = [-0.316163] [-0.0237, 0.0218,
-0.0672] : [3.9962, -0.6001, -4.7766]
Iteratin = [ 10/ 500] Metric Value = [-0.316163] [-0.0237, 0.0218,
-0.0672] : [3.9962, -0.6001, -4.7766]
Iteratin = [ 11/ 500] Metric Value = [-0.316163] [-0.0237, 0.0218,
-0.0672] : [3.9962, -0.6001, -4.7766]
Iteratin = [ 12/ 500] Metric Value = [-0.316163] [-0.0237, 0.0218,
-0.0672] : [3.9962, -0.6001, -4.7766]
Iteratin = [ 13/ 500] Metric Value = [-0.316163] [-0.0237, 0.0218,
-0.0672] : [3.9962, -0.6001, -4.7766]
Iteratin = [ 14/ 500] Metric Value = [-0.316163] [-0.0237, 0.0218,
-0.0672] : [3.9962, -0.6001, -4.7766]
Iteratin = [ 15/ 500] Metric Value = [-0.316567] [-0.0241, 0.0208,
-0.0681] : [4.2517, -0.6121, -5.0526]
...
Iteratin = [ 43/ 500] Metric Value = [-0.316567] [-0.0241, 0.0208,
-0.0681] : [4.2517, -0.6121, -5.0526]
Iteratin = [ 44/ 500] Metric Value = [-0.317147] [-0.0230, 0.0217,
-0.0691] : [4.6045, -0.3955, -4.7648]
...
Iteratin = [ 274/ 500] Metric Value = [-0.317147] [-0.0230, 0.0217,
-0.0691] : [4.6045, -0.3955, -4.7648]
Iteratin = [ 275/ 500] Metric Value = [-0.317174] [-0.0237, 0.0212,
-0.0685] : [4.6415, -0.2871, -4.8949]
...
Iteratin = [ 286/ 500] Metric Value = [-0.317174] [-0.0237, 0.0212,
-0.0685] : [4.6415, -0.2871, -4.8949]
Iteratin = [ 287/ 500] Metric Value = [-0.317182] [-0.0230, 0.0225,
-0.0690] : [4.8763, -0.4938, -4.7706]
...
Iteratin = [ 499/ 500] Metric Value = [-0.317182] [-0.0230, 0.0225,
-0.0690] : [4.8763, -0.4938, -4.7706]
Iteratin = [ 500/ 500] Metric Value = [-0.317182] [-0.0230, 0.0225,
-0.0690] : [4.8763, -0.4938, -4.7706]
Level #3
Iteratin = [ 1/ 500] Metric Value = [-0.290026] [-0.0230, 0.0222,
-0.0691] : [4.9269, -0.5905, -4.7838]
Iteratin = [ 2/ 500] Metric Value = [-0.290026] [-0.0230, 0.0222,
-0.0691] : [4.9269, -0.5905, -4.7838]
Iteratin = [ 3/ 500] Metric Value = [-0.290075] [-0.0230, 0.0221,
-0.0689] : [4.8929, -0.5943, -4.7741]
...
Iteratin = [ 8/ 500] Metric Value = [-0.290075] [-0.0230, 0.0221,
-0.0689] : [4.8929, -0.5943, -4.7741]
Iteratin = [ 9/ 500] Metric Value = [-0.290096] [-0.0229, 0.0220,
-0.0689] : [4.9471, -0.5993, -4.6822]
Iteratin = [ 10/ 500] Metric Value = [-0.290282] [-0.0228, 0.0223,
-0.0690] : [5.0013, -0.7594, -4.6632]
Iteratin = [ 11/ 500] Metric Value = [-0.290282] [-0.0228, 0.0223,
-0.0690] : [5.0013, -0.7594, -4.6632]
Iteratin = [ 12/ 500] Metric Value = [-0.290369] [-0.0228, 0.0222,
-0.0690] : [4.9884, -0.7991, -4.6436]
Iteratin = [ 13/ 500] Metric Value = [-0.290369] [-0.0228, 0.0222,
-0.0690] : [4.9884, -0.7991, -4.6436]
Iteratin = [ 14/ 500] Metric Value = [-0.290424] [-0.0228, 0.0222,
-0.0690] : [5.0714, -0.8196, -4.5798]
Iteratin = [ 15/ 500] Metric Value = [-0.290424] [-0.0228, 0.0222,
-0.0690] : [5.0714, -0.8196, -4.5798]
Iteratin = [ 16/ 500] Metric Value = [-0.290481] [-0.0228, 0.0223,
-0.0692] : [5.0858, -0.8273, -4.6050]
Iteratin = [ 17/ 500] Metric Value = [-0.290481] [-0.0228, 0.0223,
-0.0692] : [5.0858, -0.8273, -4.6050]
Iteratin = [ 18/ 500] Metric Value = [-0.290481] [-0.0228, 0.0223,
-0.0692] : [5.0858, -0.8273, -4.6050]
Iteratin = [ 19/ 500] Metric Value = [-0.290481] [-0.0228, 0.0223,
-0.0692] : [5.0858, -0.8273, -4.6050]
Iteratin = [ 20/ 500] Metric Value = [-0.290582] [-0.0229, 0.0222,
-0.0692] : [5.0833, -0.8789, -4.6096]
Iteratin = [ 21/ 500] Metric Value = [-0.290708] [-0.0229, 0.0222,
-0.0694] : [5.0620, -0.9613, -4.6641]
Iteratin = [ 22/ 500] Metric Value = [-0.290848] [-0.0229, 0.0224,
-0.0693] : [4.9832, -1.0659, -4.6259]
Iteratin = [ 23/ 500] Metric Value = [-0.290863] [-0.0230, 0.0222,
-0.0694] : [5.0699, -1.0449, -4.6101]
...
Iteratin = [ 28/ 500] Metric Value = [-0.290863] [-0.0230, 0.0222,
-0.0694] : [5.0699, -1.0449, -4.6101]
Iteratin = [ 29/ 500] Metric Value = [-0.291125] [-0.0229, 0.0221,
-0.0693] : [5.0917, -1.0940, -4.5180]
Iteratin = [ 30/ 500] Metric Value = [-0.291137] [-0.0229, 0.0220,
-0.0693] : [5.1251, -1.1367, -4.4875]
Iteratin = [ 31/ 500] Metric Value = [-0.291207] [-0.0229, 0.0220,
-0.0693] : [5.0496, -1.1321, -4.4504]
Iteratin = [ 32/ 500] Metric Value = [-0.291207] [-0.0229, 0.0220,
-0.0693] : [5.0496, -1.1321, -4.4504]
Iteratin = [ 33/ 500] Metric Value = [-0.291207] [-0.0229, 0.0220,
-0.0693] : [5.0496, -1.1321, -4.4504]
Iteratin = [ 34/ 500] Metric Value = [-0.291280] [-0.0229, 0.0220,
-0.0693] : [4.9670, -1.1466, -4.4144]
...
Iteratin = [ 38/ 500] Metric Value = [-0.291280] [-0.0229, 0.0220,
-0.0693] : [4.9670, -1.1466, -4.4144]
Iteratin = [ 39/ 500] Metric Value = [-0.291284] [-0.0228, 0.0221,
-0.0693] : [4.9711, -1.1329, -4.3368]
Iteratin = [ 40/ 500] Metric Value = [-0.291284] [-0.0228, 0.0221,
-0.0693] : [4.9711, -1.1329, -4.3368]
Iteratin = [ 41/ 500] Metric Value = [-0.291284] [-0.0228, 0.0221,
-0.0693] : [4.9711, -1.1329, -4.3368]
Iteratin = [ 42/ 500] Metric Value = [-0.291316] [-0.0229, 0.0220,
-0.0694] : [5.1005, -1.1343, -4.3695]
...
Iteratin = [ 69/ 500] Metric Value = [-0.291316] [-0.0229, 0.0220,
-0.0694] : [5.1005, -1.1343, -4.3695]
Iteratin = [ 70/ 500] Metric Value = [-0.291333] [-0.0230, 0.0220,
-0.0694] : [5.0100, -1.1949, -4.3457]
Iteratin = [ 71/ 500] Metric Value = [-0.291333] [-0.0230, 0.0220,
-0.0694] : [5.0100, -1.1949, -4.3457]
Iteratin = [ 72/ 500] Metric Value = [-0.291333] [-0.0230, 0.0220,
-0.0694] : [5.0100, -1.1949, -4.3457]
Iteratin = [ 73/ 500] Metric Value = [-0.291338] [-0.0231, 0.0219,
-0.0695] : [4.9966, -1.1998, -4.3335]
Iteratin = [ 74/ 500] Metric Value = [-0.291392] [-0.0232, 0.0221,
-0.0696] : [5.0028, -1.2482, -4.2066]
Iteratin = [ 75/ 500] Metric Value = [-0.291392] [-0.0232, 0.0221,
-0.0696] : [5.0028, -1.2482, -4.2066]
Iteratin = [ 76/ 500] Metric Value = [-0.291392] [-0.0232, 0.0221,
-0.0696] : [5.0028, -1.2482, -4.2066]
Iteratin = [ 77/ 500] Metric Value = [-0.291428] [-0.0232, 0.0223,
-0.0696] : [5.0669, -1.2036, -4.1953]
...
Iteratin = [ 81/ 500] Metric Value = [-0.291428] [-0.0232, 0.0223,
-0.0696] : [5.0669, -1.2036, -4.1953]
Iteratin = [ 82/ 500] Metric Value = [-0.291447] [-0.0232, 0.0223,
-0.0697] : [5.1224, -1.1780, -4.2023]
Iteratin = [ 83/ 500] Metric Value = [-0.291447] [-0.0232, 0.0223,
-0.0697] : [5.1224, -1.1780, -4.2023]
Iteratin = [ 84/ 500] Metric Value = [-0.291480] [-0.0232, 0.0224,
-0.0698] : [5.1364, -1.2462, -4.2064]
Iteratin = [ 85/ 500] Metric Value = [-0.291482] [-0.0233, 0.0222,
-0.0699] : [5.1235, -1.3147, -4.1734]
Iteratin = [ 86/ 500] Metric Value = [-0.291482] [-0.0233, 0.0222,
-0.0699] : [5.1235, -1.3147, -4.1734]
Iteratin = [ 87/ 500] Metric Value = [-0.291482] [-0.0233, 0.0222,
-0.0699] : [5.1235, -1.3147, -4.1734]
Iteratin = [ 88/ 500] Metric Value = [-0.291534] [-0.0232, 0.0223,
-0.0700] : [5.1322, -1.2954, -4.2217]
...
Iteratin = [ 112/ 500] Metric Value = [-0.291534] [-0.0232, 0.0223,
-0.0700] : [5.1322, -1.2954, -4.2217]
Iteratin = [ 113/ 500] Metric Value = [-0.291534] [-0.0232, 0.0223,
-0.0700] : [5.1322, -1.2954, -4.2217]
Iteratin = [ 114/ 500] Metric Value = [-0.291551] [-0.0233, 0.0223,
-0.0700] : [5.1930, -1.3075, -4.2198]
Iteratin = [ 115/ 500] Metric Value = [-0.291553] [-0.0232, 0.0224,
-0.0701] : [5.1828, -1.3267, -4.2061]
...
Iteratin = [ 136/ 500] Metric Value = [-0.291553] [-0.0232, 0.0224,
-0.0701] : [5.1828, -1.3267, -4.2061]
Iteratin = [ 137/ 500] Metric Value = [-0.291568] [-0.0233, 0.0223,
-0.0702] : [5.1959, -1.3501, -4.2396]
...
Iteratin = [ 145/ 500] Metric Value = [-0.291568] [-0.0233, 0.0223,
-0.0702] : [5.1959, -1.3501, -4.2396]
Iteratin = [ 146/ 500] Metric Value = [-0.291607] [-0.0233, 0.0222,
-0.0704] : [5.1797, -1.3688, -4.2438]
Iteratin = [ 147/ 500] Metric Value = [-0.291607] [-0.0233, 0.0222,
-0.0704] : [5.1797, -1.3688, -4.2438]
Iteratin = [ 148/ 500] Metric Value = [-0.291607] [-0.0233, 0.0222,
-0.0704] : [5.1797, -1.3688, -4.2438]
Iteratin = [ 149/ 500] Metric Value = [-0.291610] [-0.0233, 0.0222,
-0.0704] : [5.1252, -1.4104, -4.2023]
...
Iteratin = [ 166/ 500] Metric Value = [-0.291610] [-0.0233, 0.0222,
-0.0704] : [5.1252, -1.4104, -4.2023]
Iteratin = [ 167/ 500] Metric Value = [-0.291637] [-0.0233, 0.0221,
-0.0705] : [5.1355, -1.3957, -4.2097]
Iteratin = [ 168/ 500] Metric Value = [-0.291670] [-0.0233, 0.0222,
-0.0704] : [5.2214, -1.3975, -4.2374]
...
Iteratin = [ 186/ 500] Metric Value = [-0.291670] [-0.0233, 0.0222,
-0.0704] : [5.2214, -1.3975, -4.2374]
Iteratin = [ 187/ 500] Metric Value = [-0.291707] [-0.0233, 0.0222,
-0.0705] : [5.2689, -1.3672, -4.2250]
...
Iteratin = [ 244/ 500] Metric Value = [-0.291707] [-0.0233, 0.0222,
-0.0705] : [5.2689, -1.3672, -4.2250]
Iteratin = [ 245/ 500] Metric Value = [-0.291720] [-0.0233, 0.0222,
-0.0706] : [5.2730, -1.3381, -4.2234]
Iteratin = [ 246/ 500] Metric Value = [-0.291731] [-0.0233, 0.0223,
-0.0707] : [5.2563, -1.3820, -4.1737]
...
Iteratin = [ 259/ 500] Metric Value = [-0.291731] [-0.0233, 0.0223,
-0.0707] : [5.2563, -1.3820, -4.1737]
Iteratin = [ 260/ 500] Metric Value = [-0.291743] [-0.0234, 0.0222,
-0.0709] : [5.3198, -1.4169, -4.1915]
...
Iteratin = [ 267/ 500] Metric Value = [-0.291743] [-0.0234, 0.0222,
-0.0709] : [5.3198, -1.4169, -4.1915]
Iteratin = [ 268/ 500] Metric Value = [-0.291746] [-0.0234, 0.0221,
-0.0709] : [5.3219, -1.3394, -4.2312]
Iteratin = [ 269/ 500] Metric Value = [-0.291746] [-0.0234, 0.0221,
-0.0709] : [5.3219, -1.3394, -4.2312]
Iteratin = [ 270/ 500] Metric Value = [-0.291750] [-0.0234, 0.0221,
-0.0709] : [5.2782, -1.3397, -4.2359]
...
Iteratin = [ 279/ 500] Metric Value = [-0.291750] [-0.0234, 0.0221,
-0.0709] : [5.2782, -1.3397, -4.2359]
Iteratin = [ 280/ 500] Metric Value = [-0.291767] [-0.0233, 0.0221,
-0.0710] : [5.2706, -1.3625, -4.1879]
Iteratin = [ 281/ 500] Metric Value = [-0.291767] [-0.0233, 0.0221,
-0.0710] : [5.2706, -1.3625, -4.1879]
Iteratin = [ 282/ 500] Metric Value = [-0.291767] [-0.0233, 0.0221,
-0.0710] : [5.2706, -1.3625, -4.1879]
Iteratin = [ 283/ 500] Metric Value = [-0.291795] [-0.0234, 0.0221,
-0.0710] : [5.2458, -1.3118, -4.1940]
...
Iteratin = [ 294/ 500] Metric Value = [-0.291795] [-0.0234, 0.0221,
-0.0710] : [5.2458, -1.3118, -4.1940]
Iteratin = [ 295/ 500] Metric Value = [-0.291846] [-0.0234, 0.0221,
-0.0712] : [5.2691, -1.3627, -4.2101]
...
Iteratin = [ 305/ 500] Metric Value = [-0.291846] [-0.0234, 0.0221,
-0.0712] : [5.2691, -1.3627, -4.2101]
Iteratin = [ 306/ 500] Metric Value = [-0.291852] [-0.0234, 0.0221,
-0.0712] : [5.3162, -1.3442, -4.1861]
Iteratin = [ 307/ 500] Metric Value = [-0.291875] [-0.0233, 0.0222,
-0.0713] : [5.3764, -1.3564, -4.1809]
...
Iteratin = [ 321/ 500] Metric Value = [-0.291875] [-0.0233, 0.0222,
-0.0713] : [5.3764, -1.3564, -4.1809]
Iteratin = [ 322/ 500] Metric Value = [-0.291877] [-0.0233, 0.0223,
-0.0714] : [5.3809, -1.3323, -4.1792]
...
Iteratin = [ 329/ 500] Metric Value = [-0.291877] [-0.0233, 0.0223,
-0.0714] : [5.3809, -1.3323, -4.1792]
Iteratin = [ 330/ 500] Metric Value = [-0.291898] [-0.0233, 0.0222,
-0.0715] : [5.3464, -1.3281, -4.2194]
Iteratin = [ 331/ 500] Metric Value = [-0.291947] [-0.0233, 0.0221,
-0.0716] : [5.3337, -1.3364, -4.1946]
Iteratin = [ 332/ 500] Metric Value = [-0.291947] [-0.0233, 0.0221,
-0.0716] : [5.3337, -1.3364, -4.1946]
Iteratin = [ 333/ 500] Metric Value = [-0.291961] [-0.0234, 0.0221,
-0.0718] : [5.3617, -1.3725, -4.2138]
...
Iteratin = [ 338/ 500] Metric Value = [-0.291961] [-0.0234, 0.0221,
-0.0718] : [5.3617, -1.3725, -4.2138]
Iteratin = [ 339/ 500] Metric Value = [-0.291982] [-0.0234, 0.0221,
-0.0719] : [5.3714, -1.3987, -4.1954]
...
Iteratin = [ 352/ 500] Metric Value = [-0.291992] [-0.0233, 0.0221,
-0.0720] : [5.3915, -1.4052, -4.2231]
...
Iteratin = [ 410/ 500] Metric Value = [-0.291992] [-0.0233, 0.0221,
-0.0720] : [5.3915, -1.4052, -4.2231]
Iteratin = [ 411/ 500] Metric Value = [-0.291993] [-0.0234, 0.0221,
-0.0719] : [5.3668, -1.3848, -4.2082]
...
Iteratin = [ 442/ 500] Metric Value = [-0.291993] [-0.0234, 0.0221,
-0.0719] : [5.3668, -1.3848, -4.2082]
Iteratin = [ 443/ 500] Metric Value = [-0.291996] [-0.0235, 0.0221,
-0.0720] : [5.3753, -1.3879, -4.2002]
...
Iteratin = [ 497/ 500] Metric Value = [-0.291996] [-0.0235, 0.0221,
-0.0720] : [5.3753, -1.3879, -4.2002]
Iteratin = [ 498/ 500] Metric Value = [-0.292005] [-0.0234, 0.0222,
-0.0720] : [5.3624, -1.3855, -4.2020]
Iteratin = [ 499/ 500] Metric Value = [-0.292005] [-0.0234, 0.0222,
-0.0720] : [5.3624, -1.3855, -4.2020]
Iteratin = [ 500/ 500] Metric Value = [-0.292005] [-0.0234, 0.0222,
-0.0720] : [5.3624, -1.3855, -4.2020]
Registration Result :
Rot_Versor: X = [-0.0234]; Y = [0.0222]; Z = [-0.0720]
Translation: X = [5.3624]; Y = [-1.3855]; Z = [-4.2020]
Iterations(#) = [500]
Metric value = [-0.292005]
StopCondition = []
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