Starting Rigid Transform Initialization 
Rigid Transform Initialization completed

Starting Rigid Registration 
0 = -0.476399 : [-0.0013820111547180435, 0.0025309369885683206, 0.000774312122683494, 2.595651227543972, 0.922194841755982, 11.962704053065103]
1 = -0.477131 : [-0.002646125740827528, 0.006609063853208797, 0.00268553176047106, 2.645394681042394, 0.8868974538218106, 11.772289239108416]
2 = -0.477793 : [-0.003805624281487444, 0.006458980362017531, 0.001063732328732331, 2.6313395935420925, 0.8604786838615894, 11.574550760521594]
3 = -0.478128 : [-0.00452821286891723, 0.008385187621184332, 0.0011705693002239531, 2.6546917865915196, 0.8290621784874602, 11.378429791609422]
4 = -0.478574 : [-0.006683759235715668, 0.006255051819597084, -0.0010952018499975334, 2.63461914626996, 0.8052525301513462, 11.180905433164561]
5 = -0.479144 : [-0.008336102962251948, 0.008552992560439884, 0.00035176549352328623, 2.6428302943507784, 0.7728862285781594, 10.983738257692233]
6 = -0.479946 : [-0.009358928128958579, 0.009528251412035152, -0.0004153078455695913, 2.628397549616526, 0.7516607959270984, 10.785398672168933]
7 = -0.480617 : [-0.009747428358031343, 0.010088045414756096, -0.0007608724628826095, 2.6173857020615316, 0.7203500263965016, 10.58817344252483]
8 = -0.48124 : [-0.010514003204987849, 0.009400117250961598, -0.0012998129659160505, 2.5961878078606424, 0.6906777829142017, 10.391529459883218]
9 = -0.481828 : [-0.01136749451869658, 0.008941689263147047, -0.0016035242523115053, 2.554521706944468, 0.6720757803391506, 10.196806911906737]
10 = -0.482337 : [-0.01204779427252084, 0.009261945886592291, -0.0012085412981325007, 2.508691629103263, 0.6622149921295091, 10.00238045424894]
11 = -0.482814 : [-0.012712812725007657, 0.008431349159474362, -0.0012111716775732306, 2.4583768254163396, 0.6596263643666249, 9.808833076615278]
12 = -0.48325 : [-0.013717479888980423, 0.007195814528124574, -0.0011949689027633355, 2.44092795630469, 0.6780873304455091, 9.61045920350268]
13 = -0.483782 : [-0.014164077524135076, 0.006979503624382863, -0.0008298576525881814, 2.464433872273946, 0.6951001173060982, 9.412576264744427]
14 = -0.484225 : [-0.013740463307385986, 0.006517261318285178, -0.0010601577167708622, 2.482655966753479, 0.7029609463045888, 9.213564414632023]
15 = -0.484671 : [-0.012974428669367039, 0.007070741917798389, -0.00030859163052636505, 2.497226838992226, 0.7029606033835912, 9.014099551358658]
16 = -0.485088 : [-0.012586255718888745, 0.00539407440572485, -0.0007420094778493754, 2.47411819823897, 0.7086013997272135, 8.815527090035516]
17 = -0.485626 : [-0.011709514192985064, 0.006705211250897962, 0.001029882810692492, 2.4957954389734622, 0.7164556153907876, 8.616874677081038]
18 = -0.485996 : [-0.010740009552664517, 0.0033213225490059694, 0.0007621261562663611, 2.4508005146929475, 0.7430550214822589, 8.42385792638579]
19 = -0.486524 : [-0.010695525201850404, 0.004564504323073723, 0.0003888108713954079, 2.457555657426829, 0.7859097865436402, 8.228624347526782]
20 = -0.486914 : [-0.00962731020825245, 0.00431358725564754, -0.0007549082565314969, 2.437269127139192, 0.8478083788538666, 8.039535720627091]
21 = -0.487172 : [-0.009428094718520914, 0.006120519444239742, -0.001764512400246558, 2.45014834027709, 0.9378127513929054, 7.861409319435325]
22 = -0.487436 : [-0.00984842070433, 0.006962618193138067, -0.004548780627499677, 2.4524572098177133, 1.0371803851433237, 7.687880922535888]
23 = -0.487826 : [-0.00567394647845852, 0.007095108542945205, -0.006638158999067292, 2.4727607742015145, 1.1068841976643515, 7.501581876637603]
24 = -0.488146 : [-0.007922715539645943, 0.005287070576848409, -0.010473377110534657, 2.4486693339632852, 1.2532719930592446, 7.367540162961856]
25 = -0.488639 : [-0.0006384656601566251, 0.012296744526503128, -0.0064522094701977735, 2.5171802195113955, 1.300674357036029, 7.186043857664897]
26 = -0.488742 : [-0.0009856553062980965, 0.012498182547872147, -0.010492343496916197, 2.4639662371291973, 1.4174559360626655, 7.032701589916595]
27 = -0.489172 : [-0.0009282948155405311, 0.016995141098281832, -0.013183246165925061, 2.4693072075645617, 1.5230995566788954, 6.863044781699835]
28 = -0.489858 : [0.0020566961781042655, 0.018691712351037525, -0.012964100431222939, 2.456137917509957, 1.618982104885964, 6.68805543859953]
29 = -0.490376 : [0.0037309852607710185, 0.022826234769182645, -0.014811332490361297, 2.474746728628231, 1.7296852104712321, 6.522600838250363]
30 = -0.491013 : [0.007037714363629801, 0.02165521417464863, -0.019839318200471287, 2.445283075952063, 1.8613836176157343, 6.3751225810743115]
31 = -0.491798 : [0.011017514717968104, 0.023525428662504868, -0.01754076084670703, 2.4565442904592016, 1.9889308642739414, 6.2215639113785395]
32 = -0.492346 : [0.016530449694670147, 0.02627265759934789, -0.02234742688222865, 2.453247255695334, 2.1419228570454725, 6.0930277843468925]
33 = -0.493659 : [0.026186919467200115, 0.027376733927798335, -0.02440681455474889, 2.4212163098826656, 2.242346138405063, 5.923350220713023]
34 = -0.495721 : [0.029722033483121857, 0.03136490058666896, -0.023327247317704594, 2.4367615799572135, 2.367718431567608, 5.768396793143155]
35 = -0.496665 : [0.03208672236602002, 0.02959711467609081, -0.027387287431645924, 2.4004083080072633, 2.50906181378056, 5.631739238734806]
36 = -0.497846 : [0.03935465353019588, 0.0298652598435126, -0.03053967088740422, 2.3980478509901504, 2.631903999164907, 5.474127711599326]
37 = -0.499936 : [0.04327124213375627, 0.031967815827233584, -0.031212727254416667, 2.4105678829646413, 2.7879593372618294, 5.349750194185665]
38 = -0.501467 : [0.05385072696794377, 0.03322289714019595, -0.028697946727781455, 2.417779644802784, 2.9131176299414285, 5.194303845192961]
39 = -0.503837 : [0.05607414730435769, 0.029281135931992604, -0.03294063577114236, 2.372893320062518, 3.056243031448116, 5.062160529792115]
40 = -0.504857 : [0.06425229833176041, 0.02493283484347907, -0.03304418424550938, 2.3391824196881856, 3.1700504273176486, 4.901456916757194]
41 = -0.507091 : [0.07293797322452053, 0.02360425687796325, -0.035849714540589286, 2.368587746940367, 3.3061505335816896, 4.758184411592668]
42 = -0.510603 : [0.0833441100808663, 0.026613358134179907, -0.03446809456029111, 2.4043148818406843, 3.4206049061427173, 4.598483074137208]
43 = -0.514485 : [0.09063578553236457, 0.02438660448404267, -0.03730162324006788, 2.388711072062154, 3.5695018291580936, 4.466119666847047]
44 = -0.517608 : [0.09565970475806854, 0.022718611127025293, -0.03736075924136486, 2.368641988392037, 3.733839257896816, 4.354037483013508]
45 = -0.519776 : [0.10133452205764551, 0.02241943669204691, -0.03673710826942789, 2.38177586486567, 3.891210722403899, 4.231444491980536]
46 = -0.522176 : [0.10712177443243984, 0.022052628660534618, -0.03673344306814939, 2.3755031511843994, 4.04763618713515, 4.107113883540499]
47 = -0.524747 : [0.11308891149102167, 0.021286851497079963, -0.03718874347955605, 2.3718150330922763, 4.193073267477586, 3.9700078916634056]
48 = -0.527404 : [0.11877831509461619, 0.02239510731717104, -0.03731014854742606, 2.4055015090101084, 4.318186029239167, 3.8177633321510567]
49 = -0.530048 : [0.12500884499016895, 0.020104693059211087, -0.03551841619856157, 2.4271946590147526, 4.4408237141850275, 3.6614235430091573]
50 = -0.532321 : [0.13219995747654806, 0.016912681251206974, -0.03282691568693271, 2.43427454713282, 4.549555304555955, 3.493917808102957]
51 = -0.535026 : [0.13979563459670083, 0.014386313004307353, -0.03214186147577693, 2.4353168908166007, 4.667990864449776, 3.332960094632688]
52 = -0.538277 : [0.14899264826932662, 0.01399320878586919, -0.031079360512586487, 2.4545630921030273, 4.785789006376682, 3.1727498796184976]
53 = -0.541782 : [0.15473417335940315, 0.014253000309173067, -0.02955470831551458, 2.4661952498401694, 4.939177049614157, 3.0450727715221797]
54 = -0.544282 : [0.15880194349843807, 0.012496096513379315, -0.02998767790061551, 2.4688806385713904, 5.110578578377349, 2.942143263131779]
55 = -0.546668 : [0.16595967323697752, 0.010901531705235435, -0.03046918029706112, 2.491446634803126, 5.26816831473027, 2.821303521184889]
56 = -0.550072 : [0.16924468582813065, 0.011639338613492567, -0.03221824177130983, 2.525389153867155, 5.436482074516749, 2.718814552103681]
57 = -0.552215 : [0.17252665168103085, 0.01249869198809115, -0.03254116782758231, 2.560000030352102, 5.6023632394641085, 2.6126358712146684]
58 = -0.554205 : [0.17687164210077727, 0.014396395596620138, -0.03358688501319501, 2.60653104960542, 5.760696729411708, 2.4997563050253224]
59 = -0.556353 : [0.17885537118131345, 0.012778413517768403, -0.03713778353056638, 2.6071187836487093, 5.933790832473239, 2.3996617291150093]
60 = -0.558098 : [0.1831661742647471, 0.015001420294190715, -0.03795111401255328, 2.6520579545715943, 6.0938631631665325, 2.2886070868241286]
61 = -0.560233 : [0.18528972110378722, 0.014343419804615712, -0.03998053555551335, 2.6721944531439203, 6.268931019068549, 2.194072932744787]
62 = -0.561884 : [0.18800421247226257, 0.012353839653153545, -0.04209153180186469, 2.7017974937229554, 6.441372845041628, 2.0972654255677843]
63 = -0.563883 : [0.1938658580861507, 0.008409671292572835, -0.045116767338372, 2.7373028787548916, 6.600743844196995, 1.98202140247529]
64 = -0.566792 : [0.19931058783032934, 0.009002378383843275, -0.043469916639494253, 2.7855267156298846, 6.747892365302712, 1.855573524705251]
65 = -0.568873 : [0.20551326492245076, 0.006341909445624638, -0.04369205442935242, 2.789881943381617, 6.893273617140861, 1.7184614429548624]
66 = -0.571274 : [0.21223014007489324, 0.003704813273260193, -0.04579213106914826, 2.8098725506593185, 7.042542637442894, 1.5870740227472524]
67 = -0.573869 : [0.21703620865680803, 0.0007651242539892162, -0.048962358151411665, 2.8644095170472905, 7.215468233656932, 1.5029273230810174]
68 = -0.576032 : [0.22233960971064334, 0.004064264127984789, -0.04736530548936034, 2.936050798400343, 7.388640149681554, 1.433375519778712]
69 = -0.577243 : [0.2221743316136329, 0.001759569466631689, -0.05078834418742245, 2.9547192960544733, 7.583530451549348, 1.3927282405959927]
70 = -0.578506 : [0.22313744014758832, 0.0058922766391167085, -0.04680928609532463, 3.023828465130853, 7.768572367377862, 1.3619131081743485]
71 = -0.578641 : [0.2312629812361496, 0.005718518630670831, -0.05416178501022847, 3.0131668939152356, 7.913501392380054, 1.2249394071912498]
72 = -0.580819 : [0.2331326460165107, 0.008871415444828723, -0.051181971505459334, 3.0635195612870842, 8.100516736650398, 1.1752649247807618]
73 = -0.581263 : [0.24131987777422764, 0.00537525463979774, -0.051727195424652546, 3.1082165690232944, 8.277184461485325, 1.0933433688401635]
74 = -0.582402 : [0.2349291577545107, 0.011035044217786564, -0.04805164617304057, 3.156293426212979, 8.469511511415899, 1.1180928634820047]
75 = -0.581577 : [0.24362661441186798, 0.007407553026819495, -0.04928798936637299, 3.1024343832356003, 8.404957885523812, 1.0647852666068252]
76 = -0.582455 : [0.24037811861020317, 0.006366099752331792, -0.050421614558659546, 3.107442658155361, 8.451007829868251, 1.0832622077018554]
77 = -0.582598 : [0.23902749872875761, 0.006090505425632844, -0.04887247475859899, 3.1494933048016045, 8.472838431072288, 1.0991010210187004]
78 = -0.582434 : [0.24136241669645286, 0.005107400025715918, -0.05014355026925407, 3.143552247231239, 8.449104161748847, 1.1033852156374073]
79 = -0.58274 : [0.24080283209276537, 0.005617066198015854, -0.04999064157043406, 3.14882955930218, 8.460082620149521, 1.1060828354854488]
80 = -0.582698 : [0.2402039704882105, 0.005896707132277192, -0.04972628582102745, 3.1539505101382583, 8.470773052915359, 1.1099858844958759]
81 = -0.582576 : [0.23965181483600803, 0.005813948036803236, -0.049219505092449, 3.1579261497584272, 8.480996196108427, 1.1159325710712353]
82 = -0.582513 : [0.24039351889025637, 0.0057938926884016995, -0.04940979728448453, 3.156811264957456, 8.474971169073864, 1.1168978911600727]
83 = -0.58255 : [0.24019580860236261, 0.005783165505031666, -0.04941761005903421, 3.1573633431430275, 8.477696196918306, 1.1183106163471446]
84 = -0.582532 : [0.24003714111843108, 0.005789246188018037, -0.04939576095352204, 3.1582280529702254, 8.48026769608286, 1.1198532129350023]
85 = -0.582541 : [0.23996853425214507, 0.005794130687527248, -0.04934266823651984, 3.1593266705863443, 8.482488086398492, 1.1217561006307866]
86 = -0.582548 : [0.24012521410442397, 0.005713846482057916, -0.049370796055765505, 3.1595902899811366, 8.483496468685848, 1.1246967654660345]
87 = -0.582542 : [0.2400203479719273, 0.00582680272994223, -0.049347958210566034, 3.1612711547514376, 8.48579743379245, 1.1259701862980096]
88 = -0.582543 : [0.24007540682028194, 0.0056623468292837965, -0.04939083368306513, 3.1598358771630206, 8.4854996270078, 1.1264808526147156]
89 = -0.582543 : [0.2400806789825841, 0.0057264185823779215, -0.04936807922720152, 3.1605483913689896, 8.485789790814163, 1.126598450589901]
90 = -0.582549 : [0.24007901914722019, 0.0057673745288812864, -0.049355693647180475, 3.1611034755514242, 8.48624891394204, 1.1268977923998091]
91 = -0.582549 : [0.24007333651955182, 0.00573834633314773, -0.049370272261937215, 3.161050537679072, 8.48679827055022, 1.1274497606931064]
92 = -0.582549 : [0.2400988016021465, 0.005781906470694327, -0.049348759718868485, 3.1616711789971923, 8.48715016057006, 1.1277633218277436]
93 = -0.582554 : [0.24008942467035907, 0.005747566941095094, -0.049365657050167815, 3.161403712877251, 8.48733783580132, 1.1279737383739847]
94 = -0.582549 : [0.24009635551187114, 0.005754913357232178, -0.049362333191081124, 3.1615948599031007, 8.487590829504466, 1.1282016239524415]
95 = -0.582549 : [0.24009771501070953, 0.005743255506612577, -0.04936800431057676, 3.1616057090795486, 8.487870042479136, 1.128474278285722]
96 = -0.582549 : [0.24010634874912817, 0.005755678386709388, -0.049362338975496876, 3.161841167285361, 8.48810777856002, 1.1286751959663177]
97 = -0.582549 : [0.2401034184069951, 0.005732744940301216, -0.04937330535354359, 3.161729408445117, 8.488371927438807, 1.1289391437467045]
98 = -0.582549 : [0.24011545616797156, 0.00576001678789591, -0.04936065351034074, 3.16207522120999, 8.488521608348886, 1.1290368592364535]
99 = -0.582549 : [0.24011121675181227, 0.005742571393177886, -0.04936886643398607, 3.1619413526636753, 8.48861681544386, 1.1291406476147507]
100 = -0.582549 : [0.24011505950985862, 0.005746573590922255, -0.04936704599021973, 3.1620411523508043, 8.488746135589833, 1.1292475550352559]
101 = -0.582549 : [0.24011564108932718, 0.005740587449731416, -0.049369935617932834, 3.162046027646868, 8.488890856240142, 1.129378454292127]
102 = -0.582549 : [0.2401199267652523, 0.005746561172359583, -0.04936722799870257, 3.162162610496486, 8.48901420233364, 1.1294747858522072]
103 = -0.582549 : [0.2401187864030656, 0.005735791710120272, -0.04937234400988996, 3.1621158893772727, 8.489152795120754, 1.1296036760912573]
104 = -0.582549 : [0.24012463890069655, 0.005748616519859945, -0.04936643399905797, 3.1622837266128716, 8.48923653477742, 1.129655941272811]
Optimizer stop condition = RegularStepGradientDescentOptimizer: Step too small after 105 iterations. Current step (9.76563e-05) is less than minimum step (0.0001).
Rigid Registration completed

Duration: 0.657009 seconds
Writing transform parameter file ...
 Done!