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Params: 0 0 0 1.05
===============================================
Algorithm: forwards additive.
Caclulation time: 0.859 sec.
Iteration count: 100
Approximation: wz_a=-0.001189 tx_a=0.162542 ty_a=0.641183 s_a=1.047245
Epsilon: 0.000010
Resulting mean error: 5.087051
===============================================
===============================================
Algorithm: inverse additive.
Caclulation time: 0.594 sec.
Iteration count: 100
Approximation: wz_a=0.014231 tx_a=5.838348 ty_a=-0.242283 s_a=1.015881
Epsilon: 0.000010
Resulting mean_error: 24.136780
===============================================
===============================================
Algorithm: forwards compositional.
Caclulation time: 1.11 sec.
Iteration count: 100
Epsilon: 0.000010
Resulting mean error: 29.541159
===============================================
===============================================
Algorithm: inverse compositional.
Caclulation time: 0.469 sec.
Iteration count: 100
Epsilon: 0.000010
Resulting mean_error: 22.628626
===============================================
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