Figure 5.

Illustration of the $E_{ad}$, $E_{ld}$, and $E_c$ terms. $E_{ad}$ is the angle deviation formula, $E_{ld}$ is the translation deviation formula, and $E_c$ is the coincidence formula. (a) and (b) indicate defects in individual rooms, (d) and (e) correspond to the repaired situation. (c) and (f) indicate before and after overall optimization respectively.