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Match Pointclouds#
it=0, e=10.451, jnp.linalg.norm(grad)=1.632
it=1, e=10.438, jnp.linalg.norm(grad)=1.633
it=2, e=10.424, jnp.linalg.norm(grad)=1.635
it=3, e=10.411, jnp.linalg.norm(grad)=1.636
it=4, e=10.398, jnp.linalg.norm(grad)=1.637
it=5, e=10.384, jnp.linalg.norm(grad)=1.639
it=6, e=10.371, jnp.linalg.norm(grad)=1.640
it=7, e=10.357, jnp.linalg.norm(grad)=1.642
it=8, e=10.344, jnp.linalg.norm(grad)=1.643
it=9, e=10.330, jnp.linalg.norm(grad)=1.644
it=10, e=10.317, jnp.linalg.norm(grad)=1.646
it=11, e=10.303, jnp.linalg.norm(grad)=1.647
it=12, e=10.290, jnp.linalg.norm(grad)=1.649
it=13, e=10.276, jnp.linalg.norm(grad)=1.650
it=14, e=10.262, jnp.linalg.norm(grad)=1.651
it=15, e=10.249, jnp.linalg.norm(grad)=1.653
it=16, e=10.235, jnp.linalg.norm(grad)=1.654
it=17, e=10.221, jnp.linalg.norm(grad)=1.656
it=18, e=10.208, jnp.linalg.norm(grad)=1.657
it=19, e=10.194, jnp.linalg.norm(grad)=1.658
it=20, e=10.180, jnp.linalg.norm(grad)=1.660
it=21, e=10.166, jnp.linalg.norm(grad)=1.661
it=22, e=10.153, jnp.linalg.norm(grad)=1.663
it=23, e=10.139, jnp.linalg.norm(grad)=1.664
it=24, e=10.125, jnp.linalg.norm(grad)=1.665
it=25, e=10.111, jnp.linalg.norm(grad)=1.667
it=26, e=10.097, jnp.linalg.norm(grad)=1.668
it=27, e=10.083, jnp.linalg.norm(grad)=1.670
it=28, e=10.069, jnp.linalg.norm(grad)=1.671
it=29, e=10.055, jnp.linalg.norm(grad)=1.672
it=30, e=10.041, jnp.linalg.norm(grad)=1.674
it=31, e=10.027, jnp.linalg.norm(grad)=1.675
it=32, e=10.013, jnp.linalg.norm(grad)=1.677
it=33, e=9.999, jnp.linalg.norm(grad)=1.678
it=34, e=9.985, jnp.linalg.norm(grad)=1.679
it=35, e=9.971, jnp.linalg.norm(grad)=1.681
it=36, e=9.957, jnp.linalg.norm(grad)=1.682
it=37, e=9.943, jnp.linalg.norm(grad)=1.683
it=38, e=9.929, jnp.linalg.norm(grad)=1.685
it=39, e=9.914, jnp.linalg.norm(grad)=1.686
it=40, e=9.900, jnp.linalg.norm(grad)=1.688
it=41, e=9.886, jnp.linalg.norm(grad)=1.689
it=42, e=9.872, jnp.linalg.norm(grad)=1.690
it=43, e=9.857, jnp.linalg.norm(grad)=1.692
it=44, e=9.843, jnp.linalg.norm(grad)=1.693
it=45, e=9.829, jnp.linalg.norm(grad)=1.694
it=46, e=9.814, jnp.linalg.norm(grad)=1.696
it=47, e=9.800, jnp.linalg.norm(grad)=1.697
it=48, e=9.786, jnp.linalg.norm(grad)=1.699
it=49, e=9.771, jnp.linalg.norm(grad)=1.700
it=50, e=9.757, jnp.linalg.norm(grad)=1.701
it=51, e=9.742, jnp.linalg.norm(grad)=1.703
it=52, e=9.728, jnp.linalg.norm(grad)=1.704
it=53, e=9.713, jnp.linalg.norm(grad)=1.705
it=54, e=9.699, jnp.linalg.norm(grad)=1.707
it=55, e=9.684, jnp.linalg.norm(grad)=1.708
it=56, e=9.670, jnp.linalg.norm(grad)=1.709
it=57, e=9.655, jnp.linalg.norm(grad)=1.710
it=58, e=9.640, jnp.linalg.norm(grad)=1.712
it=59, e=9.626, jnp.linalg.norm(grad)=1.713
it=60, e=9.611, jnp.linalg.norm(grad)=1.714
it=61, e=9.596, jnp.linalg.norm(grad)=1.716
it=62, e=9.582, jnp.linalg.norm(grad)=1.717
it=63, e=9.567, jnp.linalg.norm(grad)=1.718
it=64, e=9.552, jnp.linalg.norm(grad)=1.719
it=65, e=9.537, jnp.linalg.norm(grad)=1.721
it=66, e=9.522, jnp.linalg.norm(grad)=1.722
it=67, e=9.508, jnp.linalg.norm(grad)=1.723
it=68, e=9.493, jnp.linalg.norm(grad)=1.724
it=69, e=9.478, jnp.linalg.norm(grad)=1.726
it=70, e=9.463, jnp.linalg.norm(grad)=1.727
it=71, e=9.448, jnp.linalg.norm(grad)=1.728
it=72, e=9.433, jnp.linalg.norm(grad)=1.729
it=73, e=9.418, jnp.linalg.norm(grad)=1.730
it=74, e=9.403, jnp.linalg.norm(grad)=1.732
it=75, e=9.388, jnp.linalg.norm(grad)=1.733
it=76, e=9.373, jnp.linalg.norm(grad)=1.734
it=77, e=9.358, jnp.linalg.norm(grad)=1.735
it=78, e=9.343, jnp.linalg.norm(grad)=1.736
it=79, e=9.328, jnp.linalg.norm(grad)=1.737
it=80, e=9.313, jnp.linalg.norm(grad)=1.738
it=81, e=9.298, jnp.linalg.norm(grad)=1.739
it=82, e=9.283, jnp.linalg.norm(grad)=1.741
it=83, e=9.268, jnp.linalg.norm(grad)=1.742
it=84, e=9.252, jnp.linalg.norm(grad)=1.743
it=85, e=9.237, jnp.linalg.norm(grad)=1.744
it=86, e=9.222, jnp.linalg.norm(grad)=1.745
it=87, e=9.207, jnp.linalg.norm(grad)=1.746
it=88, e=9.191, jnp.linalg.norm(grad)=1.747
it=89, e=9.176, jnp.linalg.norm(grad)=1.748
it=90, e=9.161, jnp.linalg.norm(grad)=1.749
it=91, e=9.146, jnp.linalg.norm(grad)=1.750
it=92, e=9.130, jnp.linalg.norm(grad)=1.751
it=93, e=9.115, jnp.linalg.norm(grad)=1.752
it=94, e=9.100, jnp.linalg.norm(grad)=1.753
it=95, e=9.084, jnp.linalg.norm(grad)=1.754
it=96, e=9.069, jnp.linalg.norm(grad)=1.755
it=97, e=9.053, jnp.linalg.norm(grad)=1.756
it=98, e=9.038, jnp.linalg.norm(grad)=1.756
it=99, e=9.023, jnp.linalg.norm(grad)=1.757
it=100, e=9.007, jnp.linalg.norm(grad)=1.758
it=101, e=8.992, jnp.linalg.norm(grad)=1.759
it=102, e=8.976, jnp.linalg.norm(grad)=1.760
it=103, e=8.961, jnp.linalg.norm(grad)=1.761
it=104, e=8.945, jnp.linalg.norm(grad)=1.762
it=105, e=8.930, jnp.linalg.norm(grad)=1.762
it=106, e=8.914, jnp.linalg.norm(grad)=1.763
it=107, e=8.899, jnp.linalg.norm(grad)=1.764
it=108, e=8.883, jnp.linalg.norm(grad)=1.765
it=109, e=8.868, jnp.linalg.norm(grad)=1.765
it=110, e=8.852, jnp.linalg.norm(grad)=1.766
it=111, e=8.836, jnp.linalg.norm(grad)=1.767
it=112, e=8.821, jnp.linalg.norm(grad)=1.768
it=113, e=8.805, jnp.linalg.norm(grad)=1.769
it=114, e=8.789, jnp.linalg.norm(grad)=1.769
it=115, e=8.774, jnp.linalg.norm(grad)=1.770
it=116, e=8.758, jnp.linalg.norm(grad)=1.771
it=117, e=8.742, jnp.linalg.norm(grad)=1.772
it=118, e=8.727, jnp.linalg.norm(grad)=1.772
it=119, e=8.711, jnp.linalg.norm(grad)=1.773
it=120, e=8.695, jnp.linalg.norm(grad)=1.774
it=121, e=8.680, jnp.linalg.norm(grad)=1.775
it=122, e=8.664, jnp.linalg.norm(grad)=1.776
it=123, e=8.648, jnp.linalg.norm(grad)=1.776
it=124, e=8.632, jnp.linalg.norm(grad)=1.777
it=125, e=8.617, jnp.linalg.norm(grad)=1.778
it=126, e=8.601, jnp.linalg.norm(grad)=1.779
it=127, e=8.585, jnp.linalg.norm(grad)=1.780
it=128, e=8.569, jnp.linalg.norm(grad)=1.781
it=129, e=8.553, jnp.linalg.norm(grad)=1.782
it=130, e=8.537, jnp.linalg.norm(grad)=1.783
it=131, e=8.521, jnp.linalg.norm(grad)=1.784
it=132, e=8.505, jnp.linalg.norm(grad)=1.785
it=133, e=8.490, jnp.linalg.norm(grad)=1.786
it=134, e=8.474, jnp.linalg.norm(grad)=1.787
it=135, e=8.458, jnp.linalg.norm(grad)=1.788
it=136, e=8.442, jnp.linalg.norm(grad)=1.789
it=137, e=8.426, jnp.linalg.norm(grad)=1.790
it=138, e=8.410, jnp.linalg.norm(grad)=1.791
it=139, e=8.394, jnp.linalg.norm(grad)=1.792
it=140, e=8.378, jnp.linalg.norm(grad)=1.793
it=141, e=8.361, jnp.linalg.norm(grad)=1.795
it=142, e=8.345, jnp.linalg.norm(grad)=1.796
it=143, e=8.329, jnp.linalg.norm(grad)=1.797
it=144, e=8.313, jnp.linalg.norm(grad)=1.799
it=145, e=8.297, jnp.linalg.norm(grad)=1.800
it=146, e=8.281, jnp.linalg.norm(grad)=1.801
it=147, e=8.264, jnp.linalg.norm(grad)=1.803
it=148, e=8.248, jnp.linalg.norm(grad)=1.804
it=149, e=8.232, jnp.linalg.norm(grad)=1.805
it=150, e=8.216, jnp.linalg.norm(grad)=1.807
it=151, e=8.199, jnp.linalg.norm(grad)=1.808
it=152, e=8.183, jnp.linalg.norm(grad)=1.810
it=153, e=8.167, jnp.linalg.norm(grad)=1.811
it=154, e=8.150, jnp.linalg.norm(grad)=1.812
it=155, e=8.134, jnp.linalg.norm(grad)=1.814
it=156, e=8.117, jnp.linalg.norm(grad)=1.815
it=157, e=8.101, jnp.linalg.norm(grad)=1.817
it=158, e=8.084, jnp.linalg.norm(grad)=1.818
it=159, e=8.068, jnp.linalg.norm(grad)=1.820
it=160, e=8.051, jnp.linalg.norm(grad)=1.821
it=161, e=8.035, jnp.linalg.norm(grad)=1.823
it=162, e=8.018, jnp.linalg.norm(grad)=1.825
it=163, e=8.001, jnp.linalg.norm(grad)=1.826
it=164, e=7.985, jnp.linalg.norm(grad)=1.828
it=165, e=7.968, jnp.linalg.norm(grad)=1.829
it=166, e=7.951, jnp.linalg.norm(grad)=1.831
it=167, e=7.934, jnp.linalg.norm(grad)=1.832
it=168, e=7.918, jnp.linalg.norm(grad)=1.834
it=169, e=7.901, jnp.linalg.norm(grad)=1.836
it=170, e=7.884, jnp.linalg.norm(grad)=1.837
it=171, e=7.867, jnp.linalg.norm(grad)=1.839
it=172, e=7.850, jnp.linalg.norm(grad)=1.840
it=173, e=7.833, jnp.linalg.norm(grad)=1.842
it=174, e=7.816, jnp.linalg.norm(grad)=1.843
it=175, e=7.799, jnp.linalg.norm(grad)=1.845
it=176, e=7.782, jnp.linalg.norm(grad)=1.847
it=177, e=7.765, jnp.linalg.norm(grad)=1.848
it=178, e=7.748, jnp.linalg.norm(grad)=1.850
it=179, e=7.731, jnp.linalg.norm(grad)=1.851
it=180, e=7.714, jnp.linalg.norm(grad)=1.853
it=181, e=7.697, jnp.linalg.norm(grad)=1.855
it=182, e=7.679, jnp.linalg.norm(grad)=1.856
it=183, e=7.662, jnp.linalg.norm(grad)=1.858
it=184, e=7.645, jnp.linalg.norm(grad)=1.859
it=185, e=7.628, jnp.linalg.norm(grad)=1.861
it=186, e=7.610, jnp.linalg.norm(grad)=1.863
it=187, e=7.593, jnp.linalg.norm(grad)=1.864
it=188, e=7.576, jnp.linalg.norm(grad)=1.866
it=189, e=7.558, jnp.linalg.norm(grad)=1.867
it=190, e=7.541, jnp.linalg.norm(grad)=1.869
it=191, e=7.523, jnp.linalg.norm(grad)=1.870
it=192, e=7.506, jnp.linalg.norm(grad)=1.872
it=193, e=7.488, jnp.linalg.norm(grad)=1.873
it=194, e=7.471, jnp.linalg.norm(grad)=1.874
it=195, e=7.453, jnp.linalg.norm(grad)=1.876
it=196, e=7.435, jnp.linalg.norm(grad)=1.877
it=197, e=7.418, jnp.linalg.norm(grad)=1.878
it=198, e=7.400, jnp.linalg.norm(grad)=1.880
it=199, e=7.383, jnp.linalg.norm(grad)=1.881
it=200, e=7.365, jnp.linalg.norm(grad)=1.882
it=201, e=7.347, jnp.linalg.norm(grad)=1.883
it=202, e=7.329, jnp.linalg.norm(grad)=1.884
it=203, e=7.312, jnp.linalg.norm(grad)=1.885
it=204, e=7.294, jnp.linalg.norm(grad)=1.886
it=205, e=7.276, jnp.linalg.norm(grad)=1.887
it=206, e=7.258, jnp.linalg.norm(grad)=1.888
it=207, e=7.240, jnp.linalg.norm(grad)=1.889
it=208, e=7.223, jnp.linalg.norm(grad)=1.890
it=209, e=7.205, jnp.linalg.norm(grad)=1.891
it=210, e=7.187, jnp.linalg.norm(grad)=1.892
it=211, e=7.169, jnp.linalg.norm(grad)=1.892
it=212, e=7.151, jnp.linalg.norm(grad)=1.893
it=213, e=7.133, jnp.linalg.norm(grad)=1.895
it=214, e=7.115, jnp.linalg.norm(grad)=1.896
it=215, e=7.097, jnp.linalg.norm(grad)=1.897
it=216, e=7.079, jnp.linalg.norm(grad)=1.898
it=217, e=7.061, jnp.linalg.norm(grad)=1.900
it=218, e=7.043, jnp.linalg.norm(grad)=1.901
it=219, e=7.025, jnp.linalg.norm(grad)=1.902
it=220, e=7.007, jnp.linalg.norm(grad)=1.904
it=221, e=6.989, jnp.linalg.norm(grad)=1.905
it=222, e=6.971, jnp.linalg.norm(grad)=1.907
it=223, e=6.952, jnp.linalg.norm(grad)=1.909
it=224, e=6.934, jnp.linalg.norm(grad)=1.910
it=225, e=6.916, jnp.linalg.norm(grad)=1.912
it=226, e=6.898, jnp.linalg.norm(grad)=1.914
it=227, e=6.879, jnp.linalg.norm(grad)=1.915
it=228, e=6.861, jnp.linalg.norm(grad)=1.917
it=229, e=6.843, jnp.linalg.norm(grad)=1.918
it=230, e=6.824, jnp.linalg.norm(grad)=1.920
it=231, e=6.806, jnp.linalg.norm(grad)=1.922
it=232, e=6.787, jnp.linalg.norm(grad)=1.923
it=233, e=6.769, jnp.linalg.norm(grad)=1.925
it=234, e=6.750, jnp.linalg.norm(grad)=1.927
it=235, e=6.732, jnp.linalg.norm(grad)=1.928
it=236, e=6.713, jnp.linalg.norm(grad)=1.930
it=237, e=6.694, jnp.linalg.norm(grad)=1.932
it=238, e=6.676, jnp.linalg.norm(grad)=1.933
it=239, e=6.657, jnp.linalg.norm(grad)=1.935
it=240, e=6.638, jnp.linalg.norm(grad)=1.937
it=241, e=6.620, jnp.linalg.norm(grad)=1.938
it=242, e=6.601, jnp.linalg.norm(grad)=1.940
it=243, e=6.582, jnp.linalg.norm(grad)=1.942
it=244, e=6.563, jnp.linalg.norm(grad)=1.943
it=245, e=6.544, jnp.linalg.norm(grad)=1.945
it=246, e=6.525, jnp.linalg.norm(grad)=1.947
it=247, e=6.506, jnp.linalg.norm(grad)=1.948
it=248, e=6.487, jnp.linalg.norm(grad)=1.950
it=249, e=6.468, jnp.linalg.norm(grad)=1.952
it=250, e=6.449, jnp.linalg.norm(grad)=1.953
it=251, e=6.430, jnp.linalg.norm(grad)=1.955
it=252, e=6.411, jnp.linalg.norm(grad)=1.956
it=253, e=6.392, jnp.linalg.norm(grad)=1.958
it=254, e=6.373, jnp.linalg.norm(grad)=1.959
it=255, e=6.354, jnp.linalg.norm(grad)=1.961
it=256, e=6.334, jnp.linalg.norm(grad)=1.963
it=257, e=6.315, jnp.linalg.norm(grad)=1.964
it=258, e=6.296, jnp.linalg.norm(grad)=1.966
it=259, e=6.276, jnp.linalg.norm(grad)=1.967
it=260, e=6.257, jnp.linalg.norm(grad)=1.969
it=261, e=6.238, jnp.linalg.norm(grad)=1.970
it=262, e=6.218, jnp.linalg.norm(grad)=1.972
it=263, e=6.199, jnp.linalg.norm(grad)=1.973
it=264, e=6.179, jnp.linalg.norm(grad)=1.975
it=265, e=6.160, jnp.linalg.norm(grad)=1.976
it=266, e=6.140, jnp.linalg.norm(grad)=1.978
it=267, e=6.121, jnp.linalg.norm(grad)=1.979
it=268, e=6.101, jnp.linalg.norm(grad)=1.981
it=269, e=6.081, jnp.linalg.norm(grad)=1.982
it=270, e=6.062, jnp.linalg.norm(grad)=1.984
it=271, e=6.042, jnp.linalg.norm(grad)=1.985
it=272, e=6.022, jnp.linalg.norm(grad)=1.987
it=273, e=6.003, jnp.linalg.norm(grad)=1.988
it=274, e=5.983, jnp.linalg.norm(grad)=1.990
it=275, e=5.963, jnp.linalg.norm(grad)=1.991
it=276, e=5.943, jnp.linalg.norm(grad)=1.993
it=277, e=5.923, jnp.linalg.norm(grad)=1.994
it=278, e=5.904, jnp.linalg.norm(grad)=1.995
it=279, e=5.884, jnp.linalg.norm(grad)=1.997
it=280, e=5.864, jnp.linalg.norm(grad)=1.998
it=281, e=5.844, jnp.linalg.norm(grad)=1.999
it=282, e=5.824, jnp.linalg.norm(grad)=2.001
it=283, e=5.804, jnp.linalg.norm(grad)=2.002
it=284, e=5.784, jnp.linalg.norm(grad)=2.003
it=285, e=5.764, jnp.linalg.norm(grad)=2.005
it=286, e=5.743, jnp.linalg.norm(grad)=2.006
it=287, e=5.723, jnp.linalg.norm(grad)=2.007
it=288, e=5.703, jnp.linalg.norm(grad)=2.009
it=289, e=5.683, jnp.linalg.norm(grad)=2.010
it=290, e=5.663, jnp.linalg.norm(grad)=2.011
it=291, e=5.643, jnp.linalg.norm(grad)=2.012
it=292, e=5.622, jnp.linalg.norm(grad)=2.014
it=293, e=5.602, jnp.linalg.norm(grad)=2.015
it=294, e=5.582, jnp.linalg.norm(grad)=2.016
it=295, e=5.561, jnp.linalg.norm(grad)=2.017
it=296, e=5.541, jnp.linalg.norm(grad)=2.018
it=297, e=5.521, jnp.linalg.norm(grad)=2.020
it=298, e=5.500, jnp.linalg.norm(grad)=2.021
it=299, e=5.480, jnp.linalg.norm(grad)=2.022
it=300, e=5.459, jnp.linalg.norm(grad)=2.023
it=301, e=5.439, jnp.linalg.norm(grad)=2.024
it=302, e=5.418, jnp.linalg.norm(grad)=2.029
it=303, e=5.398, jnp.linalg.norm(grad)=2.038
it=304, e=5.377, jnp.linalg.norm(grad)=2.031
it=305, e=5.357, jnp.linalg.norm(grad)=2.030
it=306, e=5.336, jnp.linalg.norm(grad)=2.032
it=307, e=5.316, jnp.linalg.norm(grad)=2.037
it=308, e=5.295, jnp.linalg.norm(grad)=2.038
it=309, e=5.275, jnp.linalg.norm(grad)=2.036
it=310, e=5.254, jnp.linalg.norm(grad)=2.036
it=311, e=5.233, jnp.linalg.norm(grad)=2.039
it=312, e=5.213, jnp.linalg.norm(grad)=2.042
it=313, e=5.192, jnp.linalg.norm(grad)=2.041
it=314, e=5.171, jnp.linalg.norm(grad)=2.041
it=315, e=5.150, jnp.linalg.norm(grad)=2.043
it=316, e=5.130, jnp.linalg.norm(grad)=2.046
it=317, e=5.109, jnp.linalg.norm(grad)=2.047
it=318, e=5.088, jnp.linalg.norm(grad)=2.049
it=319, e=5.068, jnp.linalg.norm(grad)=2.053
it=320, e=5.047, jnp.linalg.norm(grad)=2.062
it=321, e=5.026, jnp.linalg.norm(grad)=2.075
it=322, e=5.006, jnp.linalg.norm(grad)=2.106
it=323, e=4.986, jnp.linalg.norm(grad)=2.136
it=324, e=4.965, jnp.linalg.norm(grad)=2.173
it=325, e=4.946, jnp.linalg.norm(grad)=2.295
it=326, e=4.932, jnp.linalg.norm(grad)=2.333
it=327, e=4.914, jnp.linalg.norm(grad)=2.338
it=328, e=4.899, jnp.linalg.norm(grad)=2.339
it=329, e=4.881, jnp.linalg.norm(grad)=2.340
it=330, e=4.866, jnp.linalg.norm(grad)=2.340
it=331, e=4.848, jnp.linalg.norm(grad)=2.341
it=332, e=4.833, jnp.linalg.norm(grad)=2.342
it=333, e=4.815, jnp.linalg.norm(grad)=2.342
it=334, e=4.800, jnp.linalg.norm(grad)=2.343
it=335, e=4.782, jnp.linalg.norm(grad)=2.343
it=336, e=4.767, jnp.linalg.norm(grad)=2.344
it=337, e=4.748, jnp.linalg.norm(grad)=2.344
it=338, e=4.734, jnp.linalg.norm(grad)=2.345
it=339, e=4.715, jnp.linalg.norm(grad)=2.345
it=340, e=4.700, jnp.linalg.norm(grad)=2.346
it=341, e=4.682, jnp.linalg.norm(grad)=2.346
it=342, e=4.667, jnp.linalg.norm(grad)=2.347
it=343, e=4.648, jnp.linalg.norm(grad)=2.347
it=344, e=4.634, jnp.linalg.norm(grad)=2.348
it=345, e=4.615, jnp.linalg.norm(grad)=2.348
it=346, e=4.600, jnp.linalg.norm(grad)=2.348
it=347, e=4.581, jnp.linalg.norm(grad)=2.349
it=348, e=4.567, jnp.linalg.norm(grad)=2.349
it=349, e=4.548, jnp.linalg.norm(grad)=2.349
it=350, e=4.533, jnp.linalg.norm(grad)=2.350
it=351, e=4.514, jnp.linalg.norm(grad)=2.350
it=352, e=4.500, jnp.linalg.norm(grad)=2.350
it=353, e=4.481, jnp.linalg.norm(grad)=2.350
it=354, e=4.466, jnp.linalg.norm(grad)=2.351
it=355, e=4.447, jnp.linalg.norm(grad)=2.351
it=356, e=4.432, jnp.linalg.norm(grad)=2.351
it=357, e=4.414, jnp.linalg.norm(grad)=2.351
it=358, e=4.399, jnp.linalg.norm(grad)=2.351
it=359, e=4.380, jnp.linalg.norm(grad)=2.351
it=360, e=4.365, jnp.linalg.norm(grad)=2.351
it=361, e=4.347, jnp.linalg.norm(grad)=2.351
it=362, e=4.332, jnp.linalg.norm(grad)=2.351
it=363, e=4.313, jnp.linalg.norm(grad)=2.351
it=364, e=4.298, jnp.linalg.norm(grad)=2.351
it=365, e=4.279, jnp.linalg.norm(grad)=2.351
it=366, e=4.264, jnp.linalg.norm(grad)=2.351
it=367, e=4.246, jnp.linalg.norm(grad)=2.351
it=368, e=4.231, jnp.linalg.norm(grad)=2.351
it=369, e=4.212, jnp.linalg.norm(grad)=2.350
it=370, e=4.197, jnp.linalg.norm(grad)=2.350
it=371, e=4.179, jnp.linalg.norm(grad)=2.350
it=372, e=4.164, jnp.linalg.norm(grad)=2.350
it=373, e=4.145, jnp.linalg.norm(grad)=2.349
it=374, e=4.130, jnp.linalg.norm(grad)=2.349
it=375, e=4.112, jnp.linalg.norm(grad)=2.349
it=376, e=4.097, jnp.linalg.norm(grad)=2.348
it=377, e=4.078, jnp.linalg.norm(grad)=2.348
it=378, e=4.063, jnp.linalg.norm(grad)=2.347
it=379, e=4.045, jnp.linalg.norm(grad)=2.347
it=380, e=4.030, jnp.linalg.norm(grad)=2.346
it=381, e=4.011, jnp.linalg.norm(grad)=2.346
it=382, e=3.997, jnp.linalg.norm(grad)=2.345
it=383, e=3.978, jnp.linalg.norm(grad)=2.345
it=384, e=3.963, jnp.linalg.norm(grad)=2.344
it=385, e=3.945, jnp.linalg.norm(grad)=2.344
it=386, e=3.930, jnp.linalg.norm(grad)=2.343
it=387, e=3.911, jnp.linalg.norm(grad)=2.342
it=388, e=3.897, jnp.linalg.norm(grad)=2.341
it=389, e=3.878, jnp.linalg.norm(grad)=2.341
it=390, e=3.864, jnp.linalg.norm(grad)=2.340
it=391, e=3.845, jnp.linalg.norm(grad)=2.339
it=392, e=3.831, jnp.linalg.norm(grad)=2.338
it=393, e=3.812, jnp.linalg.norm(grad)=2.337
it=394, e=3.798, jnp.linalg.norm(grad)=2.337
it=395, e=3.779, jnp.linalg.norm(grad)=2.336
it=396, e=3.765, jnp.linalg.norm(grad)=2.335
it=397, e=3.746, jnp.linalg.norm(grad)=2.334
it=398, e=3.732, jnp.linalg.norm(grad)=2.333
it=399, e=3.714, jnp.linalg.norm(grad)=2.332
it=400, e=3.699, jnp.linalg.norm(grad)=2.331
it=401, e=3.681, jnp.linalg.norm(grad)=2.330
it=402, e=3.667, jnp.linalg.norm(grad)=2.328
it=403, e=3.649, jnp.linalg.norm(grad)=2.327
it=404, e=3.634, jnp.linalg.norm(grad)=2.326
it=405, e=3.616, jnp.linalg.norm(grad)=2.325
it=406, e=3.602, jnp.linalg.norm(grad)=2.324
it=407, e=3.584, jnp.linalg.norm(grad)=2.323
it=408, e=3.570, jnp.linalg.norm(grad)=2.321
it=409, e=3.552, jnp.linalg.norm(grad)=2.320
it=410, e=3.537, jnp.linalg.norm(grad)=2.319
it=411, e=3.519, jnp.linalg.norm(grad)=2.317
it=412, e=3.505, jnp.linalg.norm(grad)=2.316
it=413, e=3.487, jnp.linalg.norm(grad)=2.315
it=414, e=3.473, jnp.linalg.norm(grad)=2.313
it=415, e=3.456, jnp.linalg.norm(grad)=2.312
it=416, e=3.442, jnp.linalg.norm(grad)=2.310
it=417, e=3.424, jnp.linalg.norm(grad)=2.309
it=418, e=3.410, jnp.linalg.norm(grad)=2.307
it=419, e=3.392, jnp.linalg.norm(grad)=2.306
it=420, e=3.379, jnp.linalg.norm(grad)=2.304
it=421, e=3.361, jnp.linalg.norm(grad)=2.303
it=422, e=3.347, jnp.linalg.norm(grad)=2.301
it=423, e=3.330, jnp.linalg.norm(grad)=2.300
it=424, e=3.316, jnp.linalg.norm(grad)=2.298
it=425, e=3.298, jnp.linalg.norm(grad)=2.297
it=426, e=3.285, jnp.linalg.norm(grad)=2.295
it=427, e=3.267, jnp.linalg.norm(grad)=2.293
it=428, e=3.254, jnp.linalg.norm(grad)=2.292
it=429, e=3.237, jnp.linalg.norm(grad)=2.290
it=430, e=3.223, jnp.linalg.norm(grad)=2.289
it=431, e=3.206, jnp.linalg.norm(grad)=2.287
it=432, e=3.192, jnp.linalg.norm(grad)=2.285
it=433, e=3.175, jnp.linalg.norm(grad)=2.284
it=434, e=3.162, jnp.linalg.norm(grad)=2.282
it=435, e=3.145, jnp.linalg.norm(grad)=2.280
it=436, e=3.132, jnp.linalg.norm(grad)=2.278
it=437, e=3.115, jnp.linalg.norm(grad)=2.277
it=438, e=3.102, jnp.linalg.norm(grad)=2.275
it=439, e=3.085, jnp.linalg.norm(grad)=2.273
it=440, e=3.072, jnp.linalg.norm(grad)=2.271
it=441, e=3.055, jnp.linalg.norm(grad)=2.270
it=442, e=3.042, jnp.linalg.norm(grad)=2.268
it=443, e=3.025, jnp.linalg.norm(grad)=2.266
it=444, e=3.012, jnp.linalg.norm(grad)=2.264
it=445, e=2.995, jnp.linalg.norm(grad)=2.262
it=446, e=2.982, jnp.linalg.norm(grad)=2.261
it=447, e=2.966, jnp.linalg.norm(grad)=2.259
it=448, e=2.953, jnp.linalg.norm(grad)=2.257
it=449, e=2.937, jnp.linalg.norm(grad)=2.255
it=450, e=2.924, jnp.linalg.norm(grad)=2.253
it=451, e=2.907, jnp.linalg.norm(grad)=2.252
it=452, e=2.895, jnp.linalg.norm(grad)=2.250
it=453, e=2.878, jnp.linalg.norm(grad)=2.248
it=454, e=2.866, jnp.linalg.norm(grad)=2.246
it=455, e=2.850, jnp.linalg.norm(grad)=2.244
it=456, e=2.837, jnp.linalg.norm(grad)=2.243
it=457, e=2.821, jnp.linalg.norm(grad)=2.241
it=458, e=2.809, jnp.linalg.norm(grad)=2.239
it=459, e=2.793, jnp.linalg.norm(grad)=2.237
it=460, e=2.780, jnp.linalg.norm(grad)=2.235
it=461, e=2.764, jnp.linalg.norm(grad)=2.233
it=462, e=2.752, jnp.linalg.norm(grad)=2.232
it=463, e=2.736, jnp.linalg.norm(grad)=2.230
it=464, e=2.724, jnp.linalg.norm(grad)=2.228
it=465, e=2.708, jnp.linalg.norm(grad)=2.226
it=466, e=2.696, jnp.linalg.norm(grad)=2.224
it=467, e=2.680, jnp.linalg.norm(grad)=2.222
it=468, e=2.668, jnp.linalg.norm(grad)=2.221
it=469, e=2.653, jnp.linalg.norm(grad)=2.219
it=470, e=2.641, jnp.linalg.norm(grad)=2.217
it=471, e=2.625, jnp.linalg.norm(grad)=2.215
it=472, e=2.613, jnp.linalg.norm(grad)=2.213
it=473, e=2.598, jnp.linalg.norm(grad)=2.211
it=474, e=2.586, jnp.linalg.norm(grad)=2.210
it=475, e=2.571, jnp.linalg.norm(grad)=2.208
it=476, e=2.559, jnp.linalg.norm(grad)=2.206
it=477, e=2.544, jnp.linalg.norm(grad)=2.204
it=478, e=2.532, jnp.linalg.norm(grad)=2.202
it=479, e=2.517, jnp.linalg.norm(grad)=2.200
it=480, e=2.505, jnp.linalg.norm(grad)=2.199
it=481, e=2.490, jnp.linalg.norm(grad)=2.197
it=482, e=2.479, jnp.linalg.norm(grad)=2.195
it=483, e=2.464, jnp.linalg.norm(grad)=2.193
it=484, e=2.452, jnp.linalg.norm(grad)=2.191
it=485, e=2.437, jnp.linalg.norm(grad)=2.190
it=486, e=2.426, jnp.linalg.norm(grad)=2.188
it=487, e=2.411, jnp.linalg.norm(grad)=2.186
it=488, e=2.400, jnp.linalg.norm(grad)=2.184
it=489, e=2.385, jnp.linalg.norm(grad)=2.182
it=490, e=2.374, jnp.linalg.norm(grad)=2.181
it=491, e=2.359, jnp.linalg.norm(grad)=2.179
it=492, e=2.348, jnp.linalg.norm(grad)=2.177
it=493, e=2.333, jnp.linalg.norm(grad)=2.175
it=494, e=2.323, jnp.linalg.norm(grad)=2.174
it=495, e=2.308, jnp.linalg.norm(grad)=2.172
it=496, e=2.297, jnp.linalg.norm(grad)=2.170
it=497, e=2.282, jnp.linalg.norm(grad)=2.168
it=498, e=2.272, jnp.linalg.norm(grad)=2.167
it=499, e=2.257, jnp.linalg.norm(grad)=2.165
it=500, e=2.247, jnp.linalg.norm(grad)=2.163
it=501, e=2.232, jnp.linalg.norm(grad)=2.161
it=502, e=2.221, jnp.linalg.norm(grad)=2.160
it=503, e=2.207, jnp.linalg.norm(grad)=2.158
it=504, e=2.197, jnp.linalg.norm(grad)=2.156
it=505, e=2.182, jnp.linalg.norm(grad)=2.155
it=506, e=2.172, jnp.linalg.norm(grad)=2.153
it=507, e=2.158, jnp.linalg.norm(grad)=2.151
it=508, e=2.147, jnp.linalg.norm(grad)=2.150
it=509, e=2.133, jnp.linalg.norm(grad)=2.148
it=510, e=2.123, jnp.linalg.norm(grad)=2.146
it=511, e=2.109, jnp.linalg.norm(grad)=2.145
it=512, e=2.098, jnp.linalg.norm(grad)=2.143
it=513, e=2.084, jnp.linalg.norm(grad)=2.141
it=514, e=2.074, jnp.linalg.norm(grad)=2.140
it=515, e=2.060, jnp.linalg.norm(grad)=2.138
it=516, e=2.050, jnp.linalg.norm(grad)=2.136
it=517, e=2.036, jnp.linalg.norm(grad)=2.135
it=518, e=2.026, jnp.linalg.norm(grad)=2.133
it=519, e=2.012, jnp.linalg.norm(grad)=2.132
it=520, e=2.002, jnp.linalg.norm(grad)=2.130
it=521, e=1.989, jnp.linalg.norm(grad)=2.129
it=522, e=1.979, jnp.linalg.norm(grad)=2.127
it=523, e=1.965, jnp.linalg.norm(grad)=2.125
it=524, e=1.955, jnp.linalg.norm(grad)=2.124
it=525, e=1.942, jnp.linalg.norm(grad)=2.122
it=526, e=1.932, jnp.linalg.norm(grad)=2.121
it=527, e=1.918, jnp.linalg.norm(grad)=2.119
it=528, e=1.909, jnp.linalg.norm(grad)=2.118
it=529, e=1.895, jnp.linalg.norm(grad)=2.116
it=530, e=1.886, jnp.linalg.norm(grad)=2.114
it=531, e=1.872, jnp.linalg.norm(grad)=2.113
it=532, e=1.863, jnp.linalg.norm(grad)=2.111
it=533, e=1.849, jnp.linalg.norm(grad)=2.110
it=534, e=1.840, jnp.linalg.norm(grad)=2.108
it=535, e=1.826, jnp.linalg.norm(grad)=2.107
it=536, e=1.817, jnp.linalg.norm(grad)=2.105
it=537, e=1.804, jnp.linalg.norm(grad)=2.104
it=538, e=1.794, jnp.linalg.norm(grad)=2.102
it=539, e=1.781, jnp.linalg.norm(grad)=2.100
it=540, e=1.772, jnp.linalg.norm(grad)=2.099
it=541, e=1.759, jnp.linalg.norm(grad)=2.097
it=542, e=1.750, jnp.linalg.norm(grad)=2.096
it=543, e=1.737, jnp.linalg.norm(grad)=2.094
it=544, e=1.728, jnp.linalg.norm(grad)=2.093
it=545, e=1.715, jnp.linalg.norm(grad)=2.091
it=546, e=1.705, jnp.linalg.norm(grad)=2.089
it=547, e=1.693, jnp.linalg.norm(grad)=2.088
it=548, e=1.684, jnp.linalg.norm(grad)=2.086
it=549, e=1.671, jnp.linalg.norm(grad)=2.085
it=550, e=1.662, jnp.linalg.norm(grad)=2.083
it=551, e=1.649, jnp.linalg.norm(grad)=2.082
it=552, e=1.640, jnp.linalg.norm(grad)=2.080
it=553, e=1.627, jnp.linalg.norm(grad)=2.079
it=554, e=1.619, jnp.linalg.norm(grad)=2.077
it=555, e=1.606, jnp.linalg.norm(grad)=2.076
it=556, e=1.597, jnp.linalg.norm(grad)=2.074
it=557, e=1.585, jnp.linalg.norm(grad)=2.073
it=558, e=1.576, jnp.linalg.norm(grad)=2.071
it=559, e=1.563, jnp.linalg.norm(grad)=2.070
it=560, e=1.555, jnp.linalg.norm(grad)=2.068
it=561, e=1.542, jnp.linalg.norm(grad)=2.067
it=562, e=1.534, jnp.linalg.norm(grad)=2.066
it=563, e=1.521, jnp.linalg.norm(grad)=2.064
it=564, e=1.513, jnp.linalg.norm(grad)=2.063
it=565, e=1.500, jnp.linalg.norm(grad)=2.062
it=566, e=1.492, jnp.linalg.norm(grad)=2.061
it=567, e=1.479, jnp.linalg.norm(grad)=2.060
it=568, e=1.471, jnp.linalg.norm(grad)=2.059
it=569, e=1.459, jnp.linalg.norm(grad)=2.058
it=570, e=1.450, jnp.linalg.norm(grad)=2.057
it=571, e=1.438, jnp.linalg.norm(grad)=2.056
it=572, e=1.430, jnp.linalg.norm(grad)=2.055
it=573, e=1.418, jnp.linalg.norm(grad)=2.054
it=574, e=1.409, jnp.linalg.norm(grad)=2.053
it=575, e=1.397, jnp.linalg.norm(grad)=2.052
it=576, e=1.389, jnp.linalg.norm(grad)=2.052
it=577, e=1.377, jnp.linalg.norm(grad)=2.051
it=578, e=1.368, jnp.linalg.norm(grad)=2.050
it=579, e=1.356, jnp.linalg.norm(grad)=2.050
it=580, e=1.348, jnp.linalg.norm(grad)=2.049
it=581, e=1.336, jnp.linalg.norm(grad)=2.048
it=582, e=1.328, jnp.linalg.norm(grad)=2.048
it=583, e=1.316, jnp.linalg.norm(grad)=2.047
it=584, e=1.308, jnp.linalg.norm(grad)=2.047
it=585, e=1.296, jnp.linalg.norm(grad)=2.046
it=586, e=1.287, jnp.linalg.norm(grad)=2.045
it=587, e=1.275, jnp.linalg.norm(grad)=2.045
it=588, e=1.267, jnp.linalg.norm(grad)=2.044
it=589, e=1.255, jnp.linalg.norm(grad)=2.044
it=590, e=1.247, jnp.linalg.norm(grad)=2.044
it=591, e=1.235, jnp.linalg.norm(grad)=2.043
it=592, e=1.227, jnp.linalg.norm(grad)=2.043
it=593, e=1.215, jnp.linalg.norm(grad)=2.042
it=594, e=1.207, jnp.linalg.norm(grad)=2.042
it=595, e=1.195, jnp.linalg.norm(grad)=2.041
it=596, e=1.187, jnp.linalg.norm(grad)=2.041
it=597, e=1.175, jnp.linalg.norm(grad)=2.041
it=598, e=1.167, jnp.linalg.norm(grad)=2.040
it=599, e=1.155, jnp.linalg.norm(grad)=2.040
it=600, e=1.147, jnp.linalg.norm(grad)=2.040
it=601, e=1.135, jnp.linalg.norm(grad)=2.039
it=602, e=1.127, jnp.linalg.norm(grad)=2.039
it=603, e=1.115, jnp.linalg.norm(grad)=2.039
it=604, e=1.107, jnp.linalg.norm(grad)=2.038
it=605, e=1.095, jnp.linalg.norm(grad)=2.038
it=606, e=1.087, jnp.linalg.norm(grad)=2.038
it=607, e=1.076, jnp.linalg.norm(grad)=2.037
it=608, e=1.068, jnp.linalg.norm(grad)=2.037
it=609, e=1.056, jnp.linalg.norm(grad)=2.037
it=610, e=1.048, jnp.linalg.norm(grad)=2.036
it=611, e=1.036, jnp.linalg.norm(grad)=2.036
it=612, e=1.028, jnp.linalg.norm(grad)=2.036
it=613, e=1.016, jnp.linalg.norm(grad)=2.035
it=614, e=1.008, jnp.linalg.norm(grad)=2.035
it=615, e=0.997, jnp.linalg.norm(grad)=2.035
it=616, e=0.989, jnp.linalg.norm(grad)=2.034
it=617, e=0.977, jnp.linalg.norm(grad)=2.034
it=618, e=0.969, jnp.linalg.norm(grad)=2.034
it=619, e=0.957, jnp.linalg.norm(grad)=2.033
it=620, e=0.949, jnp.linalg.norm(grad)=2.033
it=621, e=0.937, jnp.linalg.norm(grad)=2.032
it=622, e=0.930, jnp.linalg.norm(grad)=2.031
it=623, e=0.919, jnp.linalg.norm(grad)=2.038
it=624, e=0.920, jnp.linalg.norm(grad)=2.046
it=625, e=0.909, jnp.linalg.norm(grad)=2.249
it=626, e=0.914, jnp.linalg.norm(grad)=2.285
it=627, e=0.900, jnp.linalg.norm(grad)=2.292
it=628, e=0.904, jnp.linalg.norm(grad)=2.309
it=629, e=0.891, jnp.linalg.norm(grad)=2.308
it=630, e=0.894, jnp.linalg.norm(grad)=2.309
it=631, e=0.881, jnp.linalg.norm(grad)=2.309
it=632, e=0.884, jnp.linalg.norm(grad)=2.309
it=633, e=0.871, jnp.linalg.norm(grad)=2.309
it=634, e=0.874, jnp.linalg.norm(grad)=2.309
it=635, e=0.861, jnp.linalg.norm(grad)=2.308
it=636, e=0.864, jnp.linalg.norm(grad)=2.308
it=637, e=0.851, jnp.linalg.norm(grad)=2.308
it=638, e=0.854, jnp.linalg.norm(grad)=2.308
it=639, e=0.841, jnp.linalg.norm(grad)=2.308
it=640, e=0.844, jnp.linalg.norm(grad)=2.307
it=641, e=0.831, jnp.linalg.norm(grad)=2.307
it=642, e=0.834, jnp.linalg.norm(grad)=2.307
it=643, e=0.821, jnp.linalg.norm(grad)=2.307
it=644, e=0.824, jnp.linalg.norm(grad)=2.306
it=645, e=0.811, jnp.linalg.norm(grad)=2.306
it=646, e=0.814, jnp.linalg.norm(grad)=2.306
it=647, e=0.802, jnp.linalg.norm(grad)=2.306
it=648, e=0.805, jnp.linalg.norm(grad)=2.305
it=649, e=0.792, jnp.linalg.norm(grad)=2.305
it=650, e=0.795, jnp.linalg.norm(grad)=2.305
it=651, e=0.782, jnp.linalg.norm(grad)=2.304
it=652, e=0.785, jnp.linalg.norm(grad)=2.304
it=653, e=0.772, jnp.linalg.norm(grad)=2.303
it=654, e=0.776, jnp.linalg.norm(grad)=2.337
it=655, e=0.773, jnp.linalg.norm(grad)=2.394
it=656, e=0.778, jnp.linalg.norm(grad)=2.499
it=657, e=0.774, jnp.linalg.norm(grad)=2.538
it=658, e=0.778, jnp.linalg.norm(grad)=2.556
it=659, e=0.774, jnp.linalg.norm(grad)=2.556
it=660, e=0.778, jnp.linalg.norm(grad)=2.557
it=661, e=0.774, jnp.linalg.norm(grad)=2.557
it=662, e=0.778, jnp.linalg.norm(grad)=2.556
it=663, e=0.773, jnp.linalg.norm(grad)=2.556
it=664, e=0.778, jnp.linalg.norm(grad)=2.556
it=665, e=0.773, jnp.linalg.norm(grad)=2.556
it=666, e=0.777, jnp.linalg.norm(grad)=2.556
it=667, e=0.773, jnp.linalg.norm(grad)=2.556
it=668, e=0.777, jnp.linalg.norm(grad)=2.556
it=669, e=0.772, jnp.linalg.norm(grad)=2.556
it=670, e=0.777, jnp.linalg.norm(grad)=2.556
it=671, e=0.772, jnp.linalg.norm(grad)=2.556
it=672, e=0.776, jnp.linalg.norm(grad)=2.556
it=673, e=0.772, jnp.linalg.norm(grad)=2.556
it=674, e=0.776, jnp.linalg.norm(grad)=2.556
it=675, e=0.771, jnp.linalg.norm(grad)=2.556
it=676, e=0.776, jnp.linalg.norm(grad)=2.556
it=677, e=0.771, jnp.linalg.norm(grad)=2.556
it=678, e=0.776, jnp.linalg.norm(grad)=2.556
it=679, e=0.771, jnp.linalg.norm(grad)=2.556
it=680, e=0.775, jnp.linalg.norm(grad)=2.555
it=681, e=0.771, jnp.linalg.norm(grad)=2.555
it=682, e=0.775, jnp.linalg.norm(grad)=2.555
it=683, e=0.770, jnp.linalg.norm(grad)=2.555
it=684, e=0.775, jnp.linalg.norm(grad)=2.555
it=685, e=0.770, jnp.linalg.norm(grad)=2.555
it=686, e=0.775, jnp.linalg.norm(grad)=2.555
it=687, e=0.770, jnp.linalg.norm(grad)=2.555
it=688, e=0.774, jnp.linalg.norm(grad)=2.555
it=689, e=0.770, jnp.linalg.norm(grad)=2.555
it=690, e=0.774, jnp.linalg.norm(grad)=2.555
it=691, e=0.769, jnp.linalg.norm(grad)=2.555
it=692, e=0.774, jnp.linalg.norm(grad)=2.555
it=693, e=0.769, jnp.linalg.norm(grad)=2.555
it=694, e=0.774, jnp.linalg.norm(grad)=2.555
it=695, e=0.769, jnp.linalg.norm(grad)=2.555
it=696, e=0.773, jnp.linalg.norm(grad)=2.555
it=697, e=0.769, jnp.linalg.norm(grad)=2.555
it=698, e=0.773, jnp.linalg.norm(grad)=2.555
it=699, e=0.769, jnp.linalg.norm(grad)=2.555
it=700, e=0.773, jnp.linalg.norm(grad)=2.555
it=701, e=0.768, jnp.linalg.norm(grad)=2.555
it=702, e=0.773, jnp.linalg.norm(grad)=2.554
it=703, e=0.768, jnp.linalg.norm(grad)=2.554
it=704, e=0.772, jnp.linalg.norm(grad)=2.554
it=705, e=0.768, jnp.linalg.norm(grad)=2.554
it=706, e=0.772, jnp.linalg.norm(grad)=2.554
it=707, e=0.768, jnp.linalg.norm(grad)=2.554
it=708, e=0.772, jnp.linalg.norm(grad)=2.554
it=709, e=0.768, jnp.linalg.norm(grad)=2.554
it=710, e=0.772, jnp.linalg.norm(grad)=2.554
it=711, e=0.767, jnp.linalg.norm(grad)=2.554
it=712, e=0.772, jnp.linalg.norm(grad)=2.554
it=713, e=0.767, jnp.linalg.norm(grad)=2.554
it=714, e=0.772, jnp.linalg.norm(grad)=2.554
it=715, e=0.767, jnp.linalg.norm(grad)=2.554
it=716, e=0.771, jnp.linalg.norm(grad)=2.554
it=717, e=0.767, jnp.linalg.norm(grad)=2.554
it=718, e=0.771, jnp.linalg.norm(grad)=2.554
it=719, e=0.767, jnp.linalg.norm(grad)=2.554
it=720, e=0.771, jnp.linalg.norm(grad)=2.554
it=721, e=0.766, jnp.linalg.norm(grad)=2.554
it=722, e=0.771, jnp.linalg.norm(grad)=2.554
it=723, e=0.766, jnp.linalg.norm(grad)=2.554
it=724, e=0.771, jnp.linalg.norm(grad)=2.554
it=725, e=0.766, jnp.linalg.norm(grad)=2.554
it=726, e=0.770, jnp.linalg.norm(grad)=2.554
it=727, e=0.766, jnp.linalg.norm(grad)=2.554
it=728, e=0.770, jnp.linalg.norm(grad)=2.554
it=729, e=0.766, jnp.linalg.norm(grad)=2.554
it=730, e=0.770, jnp.linalg.norm(grad)=2.554
it=731, e=0.766, jnp.linalg.norm(grad)=2.554
it=732, e=0.770, jnp.linalg.norm(grad)=2.554
it=733, e=0.765, jnp.linalg.norm(grad)=2.554
it=734, e=0.770, jnp.linalg.norm(grad)=2.553
it=735, e=0.765, jnp.linalg.norm(grad)=2.553
it=736, e=0.770, jnp.linalg.norm(grad)=2.553
it=737, e=0.765, jnp.linalg.norm(grad)=2.553
it=738, e=0.769, jnp.linalg.norm(grad)=2.553
it=739, e=0.765, jnp.linalg.norm(grad)=2.553
it=740, e=0.769, jnp.linalg.norm(grad)=2.553
it=741, e=0.765, jnp.linalg.norm(grad)=2.553
it=742, e=0.769, jnp.linalg.norm(grad)=2.553
it=743, e=0.765, jnp.linalg.norm(grad)=2.553
it=744, e=0.769, jnp.linalg.norm(grad)=2.553
it=745, e=0.764, jnp.linalg.norm(grad)=2.553
it=746, e=0.769, jnp.linalg.norm(grad)=2.553
it=747, e=0.764, jnp.linalg.norm(grad)=2.553
it=748, e=0.769, jnp.linalg.norm(grad)=2.553
it=749, e=0.764, jnp.linalg.norm(grad)=2.553
it=750, e=0.769, jnp.linalg.norm(grad)=2.553
it=751, e=0.764, jnp.linalg.norm(grad)=2.553
it=752, e=0.768, jnp.linalg.norm(grad)=2.553
it=753, e=0.764, jnp.linalg.norm(grad)=2.553
it=754, e=0.768, jnp.linalg.norm(grad)=2.553
it=755, e=0.764, jnp.linalg.norm(grad)=2.553
it=756, e=0.768, jnp.linalg.norm(grad)=2.553
it=757, e=0.764, jnp.linalg.norm(grad)=2.553
it=758, e=0.768, jnp.linalg.norm(grad)=2.553
it=759, e=0.764, jnp.linalg.norm(grad)=2.553
it=760, e=0.768, jnp.linalg.norm(grad)=2.553
it=761, e=0.763, jnp.linalg.norm(grad)=2.553
it=762, e=0.768, jnp.linalg.norm(grad)=2.553
it=763, e=0.763, jnp.linalg.norm(grad)=2.553
it=764, e=0.768, jnp.linalg.norm(grad)=2.553
it=765, e=0.763, jnp.linalg.norm(grad)=2.553
it=766, e=0.768, jnp.linalg.norm(grad)=2.553
it=767, e=0.763, jnp.linalg.norm(grad)=2.553
it=768, e=0.767, jnp.linalg.norm(grad)=2.553
it=769, e=0.763, jnp.linalg.norm(grad)=2.553
it=770, e=0.767, jnp.linalg.norm(grad)=2.553
it=771, e=0.763, jnp.linalg.norm(grad)=2.553
it=772, e=0.767, jnp.linalg.norm(grad)=2.553
it=773, e=0.763, jnp.linalg.norm(grad)=2.553
it=774, e=0.767, jnp.linalg.norm(grad)=2.553
it=775, e=0.763, jnp.linalg.norm(grad)=2.553
it=776, e=0.767, jnp.linalg.norm(grad)=2.553
it=777, e=0.762, jnp.linalg.norm(grad)=2.553
it=778, e=0.767, jnp.linalg.norm(grad)=2.553
it=779, e=0.762, jnp.linalg.norm(grad)=2.553
it=780, e=0.767, jnp.linalg.norm(grad)=2.553
it=781, e=0.762, jnp.linalg.norm(grad)=2.553
it=782, e=0.767, jnp.linalg.norm(grad)=2.553
it=783, e=0.762, jnp.linalg.norm(grad)=2.553
it=784, e=0.766, jnp.linalg.norm(grad)=2.553
it=785, e=0.762, jnp.linalg.norm(grad)=2.553
it=786, e=0.766, jnp.linalg.norm(grad)=2.553
it=787, e=0.762, jnp.linalg.norm(grad)=2.553
it=788, e=0.766, jnp.linalg.norm(grad)=2.553
it=789, e=0.762, jnp.linalg.norm(grad)=2.552
it=790, e=0.766, jnp.linalg.norm(grad)=2.552
it=791, e=0.762, jnp.linalg.norm(grad)=2.552
it=792, e=0.766, jnp.linalg.norm(grad)=2.552
it=793, e=0.762, jnp.linalg.norm(grad)=2.552
it=794, e=0.766, jnp.linalg.norm(grad)=2.552
it=795, e=0.761, jnp.linalg.norm(grad)=2.552
it=796, e=0.766, jnp.linalg.norm(grad)=2.552
it=797, e=0.761, jnp.linalg.norm(grad)=2.552
it=798, e=0.766, jnp.linalg.norm(grad)=2.552
it=799, e=0.761, jnp.linalg.norm(grad)=2.552
it=800, e=0.766, jnp.linalg.norm(grad)=2.552
it=801, e=0.761, jnp.linalg.norm(grad)=2.552
it=802, e=0.765, jnp.linalg.norm(grad)=2.552
it=803, e=0.761, jnp.linalg.norm(grad)=2.552
it=804, e=0.765, jnp.linalg.norm(grad)=2.552
it=805, e=0.761, jnp.linalg.norm(grad)=2.552
it=806, e=0.765, jnp.linalg.norm(grad)=2.552
it=807, e=0.761, jnp.linalg.norm(grad)=2.552
it=808, e=0.765, jnp.linalg.norm(grad)=2.552
it=809, e=0.761, jnp.linalg.norm(grad)=2.552
it=810, e=0.765, jnp.linalg.norm(grad)=2.552
it=811, e=0.761, jnp.linalg.norm(grad)=2.552
it=812, e=0.765, jnp.linalg.norm(grad)=2.552
it=813, e=0.761, jnp.linalg.norm(grad)=2.552
it=814, e=0.765, jnp.linalg.norm(grad)=2.552
it=815, e=0.760, jnp.linalg.norm(grad)=2.552
it=816, e=0.765, jnp.linalg.norm(grad)=2.552
it=817, e=0.760, jnp.linalg.norm(grad)=2.552
it=818, e=0.765, jnp.linalg.norm(grad)=2.552
it=819, e=0.760, jnp.linalg.norm(grad)=2.552
it=820, e=0.765, jnp.linalg.norm(grad)=2.552
it=821, e=0.760, jnp.linalg.norm(grad)=2.552
it=822, e=0.765, jnp.linalg.norm(grad)=2.552
it=823, e=0.760, jnp.linalg.norm(grad)=2.552
it=824, e=0.764, jnp.linalg.norm(grad)=2.552
it=825, e=0.760, jnp.linalg.norm(grad)=2.552
it=826, e=0.764, jnp.linalg.norm(grad)=2.552
it=827, e=0.760, jnp.linalg.norm(grad)=2.552
it=828, e=0.764, jnp.linalg.norm(grad)=2.552
it=829, e=0.760, jnp.linalg.norm(grad)=2.552
it=830, e=0.764, jnp.linalg.norm(grad)=2.552
it=831, e=0.760, jnp.linalg.norm(grad)=2.552
it=832, e=0.764, jnp.linalg.norm(grad)=2.552
it=833, e=0.760, jnp.linalg.norm(grad)=2.552
it=834, e=0.764, jnp.linalg.norm(grad)=2.552
it=835, e=0.760, jnp.linalg.norm(grad)=2.552
it=836, e=0.764, jnp.linalg.norm(grad)=2.552
it=837, e=0.759, jnp.linalg.norm(grad)=2.552
it=838, e=0.764, jnp.linalg.norm(grad)=2.552
it=839, e=0.759, jnp.linalg.norm(grad)=2.552
it=840, e=0.764, jnp.linalg.norm(grad)=2.552
it=841, e=0.759, jnp.linalg.norm(grad)=2.552
it=842, e=0.764, jnp.linalg.norm(grad)=2.552
it=843, e=0.759, jnp.linalg.norm(grad)=2.552
it=844, e=0.764, jnp.linalg.norm(grad)=2.552
it=845, e=0.759, jnp.linalg.norm(grad)=2.552
it=846, e=0.763, jnp.linalg.norm(grad)=2.552
it=847, e=0.759, jnp.linalg.norm(grad)=2.552
it=848, e=0.763, jnp.linalg.norm(grad)=2.552
it=849, e=0.759, jnp.linalg.norm(grad)=2.552
it=850, e=0.763, jnp.linalg.norm(grad)=2.552
it=851, e=0.759, jnp.linalg.norm(grad)=2.552
it=852, e=0.763, jnp.linalg.norm(grad)=2.552
it=853, e=0.759, jnp.linalg.norm(grad)=2.552
it=854, e=0.763, jnp.linalg.norm(grad)=2.552
it=855, e=0.759, jnp.linalg.norm(grad)=2.552
it=856, e=0.763, jnp.linalg.norm(grad)=2.552
it=857, e=0.759, jnp.linalg.norm(grad)=2.552
it=858, e=0.763, jnp.linalg.norm(grad)=2.552
it=859, e=0.759, jnp.linalg.norm(grad)=2.552
it=860, e=0.763, jnp.linalg.norm(grad)=2.552
it=861, e=0.758, jnp.linalg.norm(grad)=2.552
it=862, e=0.763, jnp.linalg.norm(grad)=2.552
it=863, e=0.758, jnp.linalg.norm(grad)=2.552
it=864, e=0.763, jnp.linalg.norm(grad)=2.552
it=865, e=0.758, jnp.linalg.norm(grad)=2.552
it=866, e=0.763, jnp.linalg.norm(grad)=2.552
it=867, e=0.758, jnp.linalg.norm(grad)=2.552
it=868, e=0.763, jnp.linalg.norm(grad)=2.552
it=869, e=0.758, jnp.linalg.norm(grad)=2.552
it=870, e=0.763, jnp.linalg.norm(grad)=2.552
it=871, e=0.758, jnp.linalg.norm(grad)=2.552
it=872, e=0.762, jnp.linalg.norm(grad)=2.552
it=873, e=0.758, jnp.linalg.norm(grad)=2.552
it=874, e=0.762, jnp.linalg.norm(grad)=2.552
it=875, e=0.758, jnp.linalg.norm(grad)=2.552
it=876, e=0.762, jnp.linalg.norm(grad)=2.552
it=877, e=0.758, jnp.linalg.norm(grad)=2.552
it=878, e=0.762, jnp.linalg.norm(grad)=2.552
it=879, e=0.758, jnp.linalg.norm(grad)=2.552
it=880, e=0.762, jnp.linalg.norm(grad)=2.552
it=881, e=0.758, jnp.linalg.norm(grad)=2.552
it=882, e=0.762, jnp.linalg.norm(grad)=2.552
it=883, e=0.758, jnp.linalg.norm(grad)=2.552
it=884, e=0.762, jnp.linalg.norm(grad)=2.552
it=885, e=0.758, jnp.linalg.norm(grad)=2.552
it=886, e=0.762, jnp.linalg.norm(grad)=2.552
it=887, e=0.757, jnp.linalg.norm(grad)=2.552
it=888, e=0.762, jnp.linalg.norm(grad)=2.552
it=889, e=0.757, jnp.linalg.norm(grad)=2.552
it=890, e=0.762, jnp.linalg.norm(grad)=2.552
it=891, e=0.757, jnp.linalg.norm(grad)=2.552
it=892, e=0.762, jnp.linalg.norm(grad)=2.552
it=893, e=0.757, jnp.linalg.norm(grad)=2.552
it=894, e=0.762, jnp.linalg.norm(grad)=2.552
it=895, e=0.757, jnp.linalg.norm(grad)=2.552
it=896, e=0.762, jnp.linalg.norm(grad)=2.552
it=897, e=0.757, jnp.linalg.norm(grad)=2.552
it=898, e=0.762, jnp.linalg.norm(grad)=2.552
it=899, e=0.757, jnp.linalg.norm(grad)=2.552
it=900, e=0.761, jnp.linalg.norm(grad)=2.552
it=901, e=0.757, jnp.linalg.norm(grad)=2.552
it=902, e=0.761, jnp.linalg.norm(grad)=2.552
it=903, e=0.757, jnp.linalg.norm(grad)=2.552
it=904, e=0.761, jnp.linalg.norm(grad)=2.552
it=905, e=0.757, jnp.linalg.norm(grad)=2.552
it=906, e=0.761, jnp.linalg.norm(grad)=2.552
it=907, e=0.757, jnp.linalg.norm(grad)=2.552
it=908, e=0.761, jnp.linalg.norm(grad)=2.552
it=909, e=0.757, jnp.linalg.norm(grad)=2.552
it=910, e=0.761, jnp.linalg.norm(grad)=2.552
it=911, e=0.757, jnp.linalg.norm(grad)=2.552
it=912, e=0.761, jnp.linalg.norm(grad)=2.552
it=913, e=0.757, jnp.linalg.norm(grad)=2.552
it=914, e=0.761, jnp.linalg.norm(grad)=2.552
it=915, e=0.756, jnp.linalg.norm(grad)=2.552
it=916, e=0.761, jnp.linalg.norm(grad)=2.552
it=917, e=0.756, jnp.linalg.norm(grad)=2.552
it=918, e=0.761, jnp.linalg.norm(grad)=2.552
it=919, e=0.756, jnp.linalg.norm(grad)=2.552
it=920, e=0.761, jnp.linalg.norm(grad)=2.552
it=921, e=0.756, jnp.linalg.norm(grad)=2.552
it=922, e=0.761, jnp.linalg.norm(grad)=2.552
it=923, e=0.756, jnp.linalg.norm(grad)=2.552
it=924, e=0.761, jnp.linalg.norm(grad)=2.552
it=925, e=0.756, jnp.linalg.norm(grad)=2.552
it=926, e=0.761, jnp.linalg.norm(grad)=2.552
it=927, e=0.756, jnp.linalg.norm(grad)=2.552
it=928, e=0.760, jnp.linalg.norm(grad)=2.552
it=929, e=0.756, jnp.linalg.norm(grad)=2.552
it=930, e=0.760, jnp.linalg.norm(grad)=2.552
it=931, e=0.756, jnp.linalg.norm(grad)=2.552
it=932, e=0.760, jnp.linalg.norm(grad)=2.552
it=933, e=0.756, jnp.linalg.norm(grad)=2.552
it=934, e=0.760, jnp.linalg.norm(grad)=2.552
it=935, e=0.756, jnp.linalg.norm(grad)=2.552
it=936, e=0.760, jnp.linalg.norm(grad)=2.552
it=937, e=0.756, jnp.linalg.norm(grad)=2.552
it=938, e=0.760, jnp.linalg.norm(grad)=2.552
it=939, e=0.756, jnp.linalg.norm(grad)=2.552
it=940, e=0.760, jnp.linalg.norm(grad)=2.552
it=941, e=0.756, jnp.linalg.norm(grad)=2.552
it=942, e=0.760, jnp.linalg.norm(grad)=2.552
it=943, e=0.756, jnp.linalg.norm(grad)=2.552
it=944, e=0.760, jnp.linalg.norm(grad)=2.552
it=945, e=0.755, jnp.linalg.norm(grad)=2.552
it=946, e=0.760, jnp.linalg.norm(grad)=2.552
it=947, e=0.755, jnp.linalg.norm(grad)=2.552
it=948, e=0.760, jnp.linalg.norm(grad)=2.552
it=949, e=0.755, jnp.linalg.norm(grad)=2.552
it=950, e=0.760, jnp.linalg.norm(grad)=2.552
it=951, e=0.755, jnp.linalg.norm(grad)=2.552
it=952, e=0.760, jnp.linalg.norm(grad)=2.552
it=953, e=0.755, jnp.linalg.norm(grad)=2.552
it=954, e=0.760, jnp.linalg.norm(grad)=2.552
it=955, e=0.755, jnp.linalg.norm(grad)=2.552
it=956, e=0.760, jnp.linalg.norm(grad)=2.552
it=957, e=0.755, jnp.linalg.norm(grad)=2.552
it=958, e=0.759, jnp.linalg.norm(grad)=2.552
it=959, e=0.755, jnp.linalg.norm(grad)=2.552
it=960, e=0.759, jnp.linalg.norm(grad)=2.552
it=961, e=0.755, jnp.linalg.norm(grad)=2.552
it=962, e=0.759, jnp.linalg.norm(grad)=2.552
it=963, e=0.755, jnp.linalg.norm(grad)=2.552
it=964, e=0.759, jnp.linalg.norm(grad)=2.552
it=965, e=0.755, jnp.linalg.norm(grad)=2.552
it=966, e=0.759, jnp.linalg.norm(grad)=2.552
it=967, e=0.755, jnp.linalg.norm(grad)=2.552
it=968, e=0.759, jnp.linalg.norm(grad)=2.552
it=969, e=0.755, jnp.linalg.norm(grad)=2.552
it=970, e=0.759, jnp.linalg.norm(grad)=2.552
it=971, e=0.755, jnp.linalg.norm(grad)=2.552
it=972, e=0.759, jnp.linalg.norm(grad)=2.552
it=973, e=0.755, jnp.linalg.norm(grad)=2.552
it=974, e=0.759, jnp.linalg.norm(grad)=2.552
it=975, e=0.754, jnp.linalg.norm(grad)=2.552
it=976, e=0.759, jnp.linalg.norm(grad)=2.552
it=977, e=0.754, jnp.linalg.norm(grad)=2.552
it=978, e=0.759, jnp.linalg.norm(grad)=2.552
it=979, e=0.754, jnp.linalg.norm(grad)=2.552
it=980, e=0.759, jnp.linalg.norm(grad)=2.552
it=981, e=0.754, jnp.linalg.norm(grad)=2.552
it=982, e=0.759, jnp.linalg.norm(grad)=2.552
it=983, e=0.754, jnp.linalg.norm(grad)=2.552
it=984, e=0.759, jnp.linalg.norm(grad)=2.552
it=985, e=0.754, jnp.linalg.norm(grad)=2.552
it=986, e=0.759, jnp.linalg.norm(grad)=2.552
it=987, e=0.754, jnp.linalg.norm(grad)=2.552
it=988, e=0.759, jnp.linalg.norm(grad)=2.552
it=989, e=0.754, jnp.linalg.norm(grad)=2.552
it=990, e=0.758, jnp.linalg.norm(grad)=2.552
it=991, e=0.754, jnp.linalg.norm(grad)=2.552
it=992, e=0.758, jnp.linalg.norm(grad)=2.552
it=993, e=0.754, jnp.linalg.norm(grad)=2.552
it=994, e=0.758, jnp.linalg.norm(grad)=2.552
it=995, e=0.754, jnp.linalg.norm(grad)=2.552
it=996, e=0.758, jnp.linalg.norm(grad)=2.552
it=997, e=0.754, jnp.linalg.norm(grad)=2.552
it=998, e=0.758, jnp.linalg.norm(grad)=2.552
it=999, e=0.754, jnp.linalg.norm(grad)=2.552
T_BA=Array([[ 0.9381448 , 0.01559626, -0.34589183, 0.3177318 ],
[-0.1353421 , 0.9360224 , -0.3248763 , -0.3897526 ],
[ 0.31869566, 0.35159475, 0.8802354 , -0.13245846],
[ 0. , 0. , 0. , 1. ]], dtype=float32)
T_BA_estimated=Array([[[ 0.9364559 , 0.01563403, -0.35043678, 0.31851348],
[-0.13789578, 0.9349864 , -0.32678002, -0.38945997],
[ 0.32254472, 0.35433882, 0.8777294 , -0.13194382],
[ 0. , 0. , 0. , 1. ]],
[[ 0.9394132 , 0.01555809, -0.34243357, 0.31713685],
[-0.13340749, 0.9368041 , -0.32342002, -0.38997674],
[ 0.3157614 , 0.34950826, 0.88212174, -0.1328465 ],
[ 0. , 0. , 0. , 1. ]],
[[ 0.9388802 , 0.0155751 , -0.34389144, 0.3173878 ],
[-0.13422221, 0.9364751 , -0.32403508, -0.38988182],
[ 0.3169989 , 0.35038802, 0.88132846, -0.13268326],
[ 0. , 0. , 0. , 1. ]],
[[ 0.94696236, 0.09845693, -0.3058897 , -0.00453667],
[-0.05898754, 0.9889903 , 0.13571548, -0.16988036],
[ 0.31588408, -0.11047377, 0.9423443 , -0.15018666],
[ 0. , 0. , 0. , 1. ]]], dtype=float32)
/home/afabisch/Projekte/jaxtransform3d/examples/autodiff/plot_pointcloud_matching.py:81: UserWarning: No artists with labels found to put in legend. Note that artists whose label start with an underscore are ignored when legend() is called with no argument.
plt.legend()
import jax
import jax.numpy as jnp
import matplotlib.pyplot as plt
import numpy as np
import pytransform3d.transformations as pt
import jaxtransform3d.transformations as jt
rng = np.random.default_rng(23)
pointcloud_A = jnp.asarray(rng.normal(size=(15, 3)))
exp_coords_BA_actual = 0.3 * rng.normal(size=6)
T_BA = jt.transform_from_exponential_coordinates(exp_coords_BA_actual)
pointcloud_B = jt.apply_transform(T_BA, pointcloud_A)
def error(exp_coords_BA):
T_BA = jt.transform_from_exponential_coordinates(exp_coords_BA)
pointcloud_B_expected = jt.apply_transform(T_BA, pointcloud_A)
return jnp.mean(jnp.linalg.norm(pointcloud_B - pointcloud_B_expected, axis=1))
def error_vmap(x):
return jax.vmap(error, in_axes=(0,))(x).sum()
error_with_grad = jax.jit(jax.value_and_grad(error_vmap))
exp_coords_BA = jnp.asarray(rng.normal(size=(4, 6)))
for it in range(1000):
e, grad = error_with_grad(exp_coords_BA)
print(f"{it=}, {e=:.3f}, {jnp.linalg.norm(grad)=:.3f}")
if e == 0:
break
exp_coords_BA = exp_coords_BA - 0.005 * grad
T_BA_estimated = jt.transform_from_exponential_coordinates(exp_coords_BA)
print(f"{T_BA=}")
print(f"{T_BA_estimated=}")
plt.figure(figsize=(12, 6))
axes = [
plt.subplot(2, len(exp_coords_BA) // 2, 1 + i, projection="3d")
for i in range(len(exp_coords_BA))
]
for ax, T_BA_estimated_i in zip(axes, T_BA_estimated, strict=False):
pointcloud_B_estimated = jt.apply_transform(T_BA_estimated_i, pointcloud_A)
ax.scatter(
pointcloud_A[:, 0],
pointcloud_A[:, 1],
pointcloud_A[:, 2],
c="k",
label="Untransformed",
)
ax.scatter(
pointcloud_B[:, 0],
pointcloud_B[:, 1],
pointcloud_B[:, 2],
c="r",
alpha=0.5,
s=50,
label="With actual transform",
)
ax.scatter(
pointcloud_B_estimated[:, 0],
pointcloud_B_estimated[:, 1],
pointcloud_B_estimated[:, 2],
c="b",
label="With estimated transform",
)
pt.plot_transform(ax=ax, A2B=T_BA, name="Actual", alpha=0.3, lw=5, s=1.2)
pt.plot_transform(ax=ax, A2B=T_BA_estimated_i, name="Estimated")
plt.legend()
plt.tight_layout()
plt.show()
Total running time of the script: (0 minutes 5.934 seconds)