Starting Rigid Registration
0 = -0.4657616492961776 : [-0.0003413759830990332, 0.000937432914037677, -0.0005165717625652081, 2.570276938951565, 0.9062552162693951, 11.965622914195105]
1 = -0.46653118027266266 : [-0.0006919674204908602, 0.0018901045461068998, -0.0010341461175189803, 2.5734533879375685, 0.8423803745655727, 11.776137502539035]
2 = -0.46743637575455665 : [-0.001026002565688615, 0.002867287015794155, -0.00154576516237536, 2.574871135495456, 0.7858394950430678, 11.584315173247392]
3 = -0.4680296693478069 : [-0.0013470935556954473, 0.0038686218106140278, -0.002051870179176313, 2.574333595924587, 0.7369928269764832, 11.390386664951048]
4 = -0.4686359932564685 : [-0.0016786674426397, 0.004896103620509708, -0.0025581516869111294, 2.571740055063017, 0.6957530970873997, 11.194716355125713]
5 = -0.4692843652218169 : [-0.0020344948950271626, 0.0059533155034402815, -0.0030616862261459545, 2.5669495370221935, 0.6623056426372069, 10.997606418658192]
6 = -0.46988141276925166 : [-0.0024100845533495795, 0.007034894688515984, -0.0035609351649173214, 2.559895137630733, 0.6373433573007833, 10.799311489638884]
7 = -0.47049137254544326 : [-0.002774511401897409, 0.00810640270367075, -0.004064262742609595, 2.5507569691441154, 0.620719034480497, 10.600228622006407]
8 = -0.4711275181354461 : [-0.003086358361004727, 0.009147588274557578, -0.004568826671880813, 2.5402830037803814, 0.612126183095575, 10.40070239624137]
9 = -0.4717624863061716 : [-0.00334298198142648, 0.010167108538366184, -0.005065903356366978, 2.529211673523854, 0.6113756861277334, 10.20102402418468]
10 = -0.47235713853798705 : [-0.003586836736884789, 0.011160671671253572, -0.005562719118149309, 2.5179698745614973, 0.618388424430075, 10.001476363639856]
11 = -0.4729458255553717 : [-0.0038402419909676615, 0.012102719822009481, -0.006071304366209763, 2.506619550541979, 0.6326887212107071, 9.802323584443904]
12 = -0.47353832888608477 : [-0.0040692828674491685, 0.013003933462771438, -0.0065879234184228475, 2.495645168402101, 0.6535177406655885, 9.603725528660506]
13 = -0.4741251991587255 : [-0.004228103024076018, 0.013858092338873133, -0.007108124596718049, 2.4853220250053734, 0.680279951195073, 9.405803538648582]
14 = -0.4747230225131419 : [-0.004289240969774322, 0.01465280679831498, -0.0076397656858042656, 2.4756917467293316, 0.7125703165873191, 9.208671812952938]
15 = -0.47531919899834063 : [-0.004261100192805956, 0.015398580531303437, -0.008189062247944568, 2.466809556005783, 0.750417005793954, 9.012495109283742]
16 = -0.4759048472688511 : [-0.004161808850092057, 0.01611831682782317, -0.008758900644193332, 2.458556012301282, 0.7936176524078552, 8.817399820320409]
17 = -0.4764846296053286 : [-0.0039750450404432295, 0.016790768927250385, -0.00935348737922636, 2.4506363828612714, 0.8418582263093399, 8.623475187820597]
18 = -0.47706684184328624 : [-0.0036368673314004763, 0.017405035448567033, -0.009968135244036681, 2.4430789978294873, 0.8945101520514694, 8.43068726856759]
19 = -0.4776341107366858 : [-0.003109971140158099, 0.017951735663134426, -0.010599606910308758, 2.4360435844333908, 0.9515191824145043, 8.239123776328839]
20 = -0.4781798733874824 : [-0.002442477669329851, 0.018416306124857187, -0.011249630148358027, 2.429542496905681, 1.013535486175392, 8.049104362678765]
21 = -0.47870728620279257 : [-0.0016290629834100913, 0.01880879727289684, -0.011927156545716244, 2.423461471619164, 1.080860529091562, 7.86088836957846]
22 = -0.47924898548452644 : [-0.0005540124733131287, 0.019166463450800503, -0.012641797232739881, 2.417795299786628, 1.1532053686847925, 7.674536711763443]
23 = -0.4798029171417833 : [0.0007769376120203861, 0.01947784467801067, -0.013385978601383044, 2.4123474967095255, 1.2309559982711886, 7.4903751759749415]
24 = -0.4803321936530697 : [0.0023006208358980723, 0.019670112844024562, -0.014152070173793472, 2.407271062382295, 1.3148170576631366, 7.308909560710616]
25 = -0.48088042452719565 : [0.004205069581395235, 0.019724954491517784, -0.014918557418808454, 2.403020615068047, 1.4030017602942113, 7.129497964611602]
26 = -0.4814501897444794 : [0.006350414664022327, 0.01975757435923624, -0.015676702746230727, 2.3997291183317757, 1.496359575400716, 6.952713438250838]
27 = -0.48206009062392985 : [0.008926620354991139, 0.019794057737370422, -0.016432134014302654, 2.397201929475698, 1.5925998106111863, 6.777491890438548]
28 = -0.48272977420864543 : [0.011872463250995894, 0.01976066149566183, -0.017195292632801347, 2.395462703153901, 1.6921078263898515, 6.604119238452569]
29 = -0.48344004879520525 : [0.015304566526086073, 0.019638888001101838, -0.017982218828760253, 2.394783907770209, 1.7955782248888414, 6.433111201632494]
30 = -0.48422330649867795 : [0.019131508033329622, 0.019528409526954824, -0.018795841956313238, 2.3947350618147243, 1.9038638381956754, 6.265144181015889]
31 = -0.48510692256671334 : [0.0233598151838648, 0.01934752840352498, -0.019663189028116927, 2.393847274780469, 2.014267277025261, 6.098604109058225]
32 = -0.4861329197880043 : [0.02793206797117568, 0.019091820954289743, -0.020533945340722226, 2.393538037929972, 2.1272489552286684, 5.933837423485463]
33 = -0.48726443678868503 : [0.03279525481208969, 0.018872987871961684, -0.021401310082140173, 2.3944219952465247, 2.244890476912236, 5.772400801716201]
34 = -0.4885085527380378 : [0.037957015211647654, 0.01859023364399805, -0.022302410143797136, 2.3956140187349395, 2.3646029468248035, 5.61253459199482]
35 = -0.489921025899103 : [0.04322934607217327, 0.018261833039064507, -0.023234152436722402, 2.39666626724246, 2.487051324986532, 5.454768997842638]
36 = -0.49146447661394616 : [0.04859995712554776, 0.0179429556885403, -0.024193013171024506, 2.398427735174918, 2.61118432956873, 5.29834599063734]
37 = -0.49314884960535815 : [0.054100750481171474, 0.017623682931967498, -0.025160981601401573, 2.4004366433258175, 2.73631805801632, 5.142744060889282]
38 = -0.4949737267072275 : [0.05960065763348691, 0.01730678013455848, -0.026162623829401474, 2.402534084633795, 2.8634844651691336, 4.988801053509397]
39 = -0.49689259263197233 : [0.06516378580469101, 0.017008540288801607, -0.02716654557224519, 2.405470292124404, 2.991490038984116, 4.8355782608426425]
40 = -0.49892363363438547 : [0.07083536205019626, 0.01674209601293918, -0.028180296483152546, 2.4089120527728998, 3.1199396660151573, 4.682754467852102]
41 = -0.5010635593830799 : [0.07655708113390818, 0.016498620860339173, -0.029162648045862112, 2.412679261574853, 3.2495230289377193, 4.530905496132381]
42 = -0.5032960429582509 : [0.08225094555534546, 0.01627401955415308, -0.03011664678024159, 2.417417016880414, 3.3803317551599887, 4.380133509381714]
43 = -0.5055859475331466 : [0.08791132972136453, 0.01606878194314355, -0.031014627096079623, 2.4227892374922413, 3.5119213143936454, 4.230057724201963]
44 = -0.5079393999719578 : [0.09350084890983733, 0.015818800794904622, -0.031878483359700276, 2.4277280130746397, 3.6442216957872398, 4.080582387633267]
45 = -0.5103254888794968 : [0.09899267070447672, 0.01552543484407727, -0.032712001397463414, 2.433892917511677, 3.777166382114679, 3.9317109214769457]
46 = -0.5127468588299319 : [0.1044298129757887, 0.015199712262883159, -0.03352391381170669, 2.442168950685517, 3.910339706272378, 3.783138636865982]
47 = -0.5152107388778152 : [0.10979101599354522, 0.014836553995948564, -0.034307297536535754, 2.4521833705671474, 4.044895541904902, 3.6359141496032983]
48 = -0.5176884782555129 : [0.11512902141631885, 0.014434135688004088, -0.035063073924308345, 2.463581717320085, 4.180996343139387, 3.490215224455234]
49 = -0.5201747231452125 : [0.1204627119877543, 0.013982343611354375, -0.03579791847437133, 2.47605762455286, 4.319685755225551, 3.3470680146483986]
50 = -0.5226730500478253 : [0.1258582487662823, 0.013513879797000765, -0.03649566651784583, 2.489219149527181, 4.4607993829126835, 3.206382029997289]
51 = -0.525221568074049 : [0.13141190155347002, 0.013009944869794341, -0.037137167172009176, 2.5021234048690606, 4.604357187212386, 3.0681922193391253]
52 = -0.5278535620317027 : [0.1370614488556701, 0.01247069685624012, -0.03773209003560141, 2.514309830256011, 4.751062849730473, 2.933298750081394]
53 = -0.530530405871408 : [0.14272367583780007, 0.01187611011334757, -0.03829843696227646, 2.525960608024345, 4.901670791993629, 2.8027311086330102]
54 = -0.5332115570816075 : [0.14838429137660522, 0.011256799504862844, -0.03882767464513012, 2.5383323788089847, 5.055371616391421, 2.6758874970701743]
55 = -0.5358846878442111 : [0.15402692922629668, 0.010599659154221385, -0.039326489938521836, 2.5513809408481163, 5.211831185060883, 2.5525303479278603]
56 = -0.5385446146367535 : [0.15964015297643352, 0.009917200611924856, -0.03979987714914434, 2.5660614979056326, 5.3703995831544535, 2.432079185810757]
57 = -0.5411722011234056 : [0.16520343731421394, 0.009207715537348511, -0.04029920327812525, 2.583141825867409, 5.531133565005103, 2.3148504415607722]
58 = -0.543759123537337 : [0.17073966036672614, 0.008485883219814522, -0.040812769325757434, 2.6027635064644046, 5.694016831117916, 2.201032098456446]
59 = -0.54630472310519 : [0.17617938299154898, 0.007788884853651425, -0.04138834408715468, 2.62413559481745, 5.859925453900813, 2.091981139450614]
60 = -0.5487661871176047 : [0.18156791024027238, 0.00713158768802482, -0.04199813507474812, 2.646782107777956, 6.029112747516323, 1.9883499533956095]
61 = -0.5511387761658768 : [0.18689712114382906, 0.006499309390427206, -0.042669844153250036, 2.669880874777123, 6.202080420882073, 1.891255015859618]
62 = -0.5534028186559462 : [0.19219996511870718, 0.0059411018794268055, -0.04336071306982909, 2.693947578455035, 6.378716370282255, 1.8012523697902365]
63 = -0.5555550488466128 : [0.19751178843374048, 0.005469635492696315, -0.044051748951680604, 2.7185528894006463, 6.5585407987361295, 1.717961383817921]
64 = -0.55758454880257 : [0.20278383574401207, 0.005089385473049261, -0.044759471057229494, 2.744151861724858, 6.741344856003105, 1.6417465751407874]
65 = -0.5594727350080949 : [0.20807765092329508, 0.004766620094826004, -0.045417423759782735, 2.7722513022636845, 6.9264758048834425, 1.5723383770634811]
66 = -0.5612233041969202 : [0.21332381587943158, 0.004505965751443982, -0.04601316482179992, 2.8038899729064624, 7.114461347671303, 1.512812924152221]
67 = -0.5628188757819533 : [0.21861788783128633, 0.004283694993394648, -0.04648982766590205, 2.8383527801664927, 7.305232798205278, 1.4648582465632705]
68 = -0.5642719662101332 : [0.2237455236305576, 0.004101438092981083, -0.04687401178127769, 2.87387265714908, 7.498671251346898, 1.4300958913084743]
69 = -0.5655609495485499 : [0.22878849166520263, 0.003848392963367314, -0.0472461120535042, 2.9109333864580056, 7.693762147367931, 1.4086985560989609]
70 = -0.5666979154946659 : [0.23373417925730372, 0.0036481531575646995, -0.04772497051837357, 2.9505847756740406, 7.889469889142889, 1.404053851868731]
71 = -0.5676704283932938 : [0.2384725378454683, 0.003321193882330337, -0.04853515867667254, 2.985547449893419, 8.085375256003697, 1.4213788695379386]
72 = -0.5684948360073954 : [0.24362288921593214, 0.003079879536851716, -0.04936768438721138, 3.0483609938909657, 8.26938723290991, 1.4669633983406685]
73 = -0.5692038589106129 : [0.24449691539349844, 0.001960333502013989, -0.04994552636478342, 2.867541296509174, 8.327998023139939, 1.529087173999078]
74 = -0.5690240868180553 : [0.24470398078638478, 0.002386582229532091, -0.04946204323360576, 2.964317049402796, 8.30489215212267, 1.5191505820234386]
75 = -0.5691981349115094 : [0.24483206748516131, 0.002864263675809503, -0.04905958628506332, 3.061487649576433, 8.28446535612118, 1.5073610298384832]
76 = -0.5692587889117721 : [0.24458610379348186, 0.0027571936852876107, -0.04937677325854542, 3.014057579432936, 8.300224144214734, 1.5085229994057556]
77 = -0.5692500249512458 : [0.24465271772999603, 0.0028361758196101604, -0.049301851839440844, 3.0372047771974007, 8.292510003574563, 1.503079341299411]
78 = -0.5692649594916834 : [0.2445287731041379, 0.0028055400473953494, -0.049405498767233304, 3.025752617938567, 8.29654689255094, 1.5001313463612904]
79 = -0.5692612104456278 : [0.24454733433995587, 0.0028246545299604594, -0.049377102071063064, 3.0314803402190016, 8.294348083101937, 1.4989418817536997]
80 = -0.5692630427623134 : [0.24454565061888095, 0.002845814190295976, -0.04934726504901386, 3.036882547340364, 8.29184978780422, 1.497036153187783]
81 = -0.5692635658685996 : [0.24452683935635827, 0.002837494379410895, -0.0493611101583482, 3.0339040319194526, 8.292752961968597, 1.4973115111522013]
82 = -0.5692616592471801 : [0.24448285506534603, 0.002833487586736167, -0.04937585480219245, 3.030815476946922, 8.292972641215847, 1.496900303019756]
83 = -0.5692580318786179 : [0.2444887159144469, 0.00283770689237056, -0.04936916696392752, 3.0322648996928137, 8.292430887208178, 1.496684224950203]
84 = -0.5692586982182356 : [0.2444938006940557, 0.002841561740683877, -0.049362370537088286, 3.033698230223204, 8.291851562051548, 1.4964583909866125]
85 = -0.5692587795363082 : [0.24448902993999302, 0.0028393033492780627, -0.04936498342982416, 3.0329594277746996, 8.292086565580487, 1.4965540594131557]
86 = -0.5692584563288375 : [0.2444900247175488, 0.0028403334450361117, -0.049363496595142435, 3.033298567172262, 8.291904838576157, 1.4964867505516481]
87 = -0.5692581373673821 : [0.24448859522433622, 0.002839751941736689, -0.04936425686931554, 3.0331102097634544, 8.29195057777695, 1.4965105019038942]
Optimizer Stop Condition: RegularStepGradientDescentOptimizerv4: Step too small after 88 iterations. Current step (9.76563e-05) is less than minimum step (0.0001).
Rigid Registration Completed
duration: 16.512 seconds