Can’t this optimizer optimize the 3d-3d itk:: VersorRigid3DTransform? When I use this optimizer, I can’t always find the results. I use cascade registration. The first stage is a translation, which can work normally. But when I reach the second level of itk:: VersorRigid3DTransform, the results become [0,0,0,0,0,0]. The measurement is based on mutual trust