pa2-debug-c-auxilliary2.txt
Estimated Registration

   P   =  325.0109,   275.0057,   300.0189
   R*x = 0.999742849165,  0.020320974540, -0.010064469082
   R*y =-0.020318370385,  0.999793495452,  0.000360939846
   R*z = 0.010069725373, -0.000156353419,  0.999949286806
RegistrationError FregInv*EstFreg

   P   =    0.0108,     0.0055,     0.0190
   R*x = 0.999999945793,  0.000322713323, -0.000065338474
   R*y =-0.000322696473,  0.999999914721,  0.000257730211
   R*z = 0.000065421641, -0.000257709113,  0.999999964653
Nav Point 0
0 WRT world:           434.46,   368.23,   464.29
0 Est WRT world (a):   434.55,   368.15,   464.17
0 Est WRT world (b):   434.46,   368.22,   464.34
0 WRT CT:              109.66,    91.03,   165.39
0 Est WRT CT:          109.75,    90.96,   165.23

Nav Point 1
1 WRT world:           364.77,   373.13,   385.38
1 Est WRT world (a):   364.87,   373.09,   385.28
1 Est WRT world (b):   364.75,   373.11,   385.45
1 WRT CT:               40.86,    97.32,    85.78
1 Est WRT CT:           40.99,    97.28,    85.64

Nav Point 2
2 WRT world:           420.78,   340.13,   407.63
2 Est WRT world (a):   420.77,   340.03,   407.65
2 Est WRT world (b):   420.78,   340.13,   407.67
2 WRT CT:               95.98,    63.21,   108.59
2 Est WRT CT:           95.98,    63.10,   108.58

Nav Point 3
3 WRT world:           371.31,   426.51,   404.84
3 Est WRT world (a):   371.43,   426.51,   404.56
3 Est WRT world (b):   371.30,   426.53,   404.87
3 WRT CT:               48.28,   150.57,   105.32
3 Est WRT CT:           48.43,   150.57,   104.98

