pa2-debug-d-auxilliary2.txt
Estimated Registration

   P   =  300.0000,   400.0000,   420.0000
   R*x = 0.999800013333,  0.000199986667, -0.019997333440
   R*y = 0.000199986667,  0.999800013333,  0.019997333440
   R*z = 0.019997333440, -0.019997333440,  0.999600026666
RegistrationError FregInv*EstFreg

   P   =   -0.0000,     0.0000,     0.0000
   R*x = 1.000000000000, -0.000000000000, -0.000000000000
   R*y = 0.000000000000,  1.000000000000,  0.000000000000
   R*z = 0.000000000000, -0.000000000000,  1.000000000000
Nav Point 0
0 WRT world:           365.70,   545.83,   522.68
0 Est WRT world (a):   365.70,   545.83,   522.68
0 Est WRT world (b):   365.70,   545.83,   522.68
0 WRT CT:               63.66,   147.86,   101.03
0 Est WRT CT:           63.66,   147.86,   101.03

Nav Point 1
1 WRT world:           468.70,   491.08,   577.34
1 Est WRT world (a):   468.70,   491.08,   577.34
1 Est WRT world (b):   468.70,   491.08,   577.34
1 WRT CT:              165.53,    94.25,   158.83
1 Est WRT CT:          165.53,    94.25,   158.83

Nav Point 2
2 WRT world:           409.37,   455.92,   577.42
2 Est WRT world (a):   409.37,   455.92,   577.42
2 Est WRT world (b):   409.37,   455.92,   577.42
2 WRT CT:              106.21,    59.08,   158.42
2 Est WRT CT:          106.21,    59.08,   158.42

Nav Point 3
3 WRT world:           373.09,   493.67,   482.14
3 Est WRT world (a):   373.09,   493.67,   482.14
3 Est WRT world (b):   373.09,   493.67,   482.14
3 WRT CT:               71.85,    94.91,    61.70
3 Est WRT CT:           71.85,    94.91,    61.70

