void CPDNRigid<Scalar, Dim>::initialization()
{
paras_.W_ = MatrixType<Scalar, Dim>::Matrix::Zero(this->M_, Dim);
Scalar sigma_sum = this->M_*(this->data_.transpose()*this->data_).trace() +
this->N_*(this->model_.transpose()*this->model_).trace() -
2*(this->data_.colwise().sum())*(this->model_.colwise().sum()).transpose();
paras_.sigma2_ = sigma_sum / (Dim*this->N_*this->M_);
this->initTransform();
constructG();
if (this->lr_)
lr_approximate<Scalar, Dim>(G_, Q_, S_, this->K_, this->lr_maxitr_);
}
void CPDNRigid<T, D>::initialization()
{
_paras._W = TMatrix::Zero(_M, D);
T sigma_sum = _M*(_data.transpose()*_data).trace() +
_N*(_model.transpose()*_model).trace() -
2*(_data.colwise().sum())*(_model.colwise().sum()).transpose();
_paras._sigma2 = sigma_sum / (D*_N*_M);
initTransform();
constructG();
if (_lr)
lr_approximate<T, D>(_G, _Q, _S, _K, _lr_maxitr);
}
BallSearch(Params<Complex> params_) :params(params_), G(constructG(params)), g(~G), m_foundBigBall(false) {}
