pa2-debug-f-auxilliary2.txt
Estimated Registration

   P   =  349.9445,   300.0563,   300.0444
   R*x = 0.999950686116, -0.000721575699, -0.009904779898
   R*y = 0.001015736080,  0.999557568575,  0.029726005180
   R*z = 0.009878948149, -0.029734599917,  0.999509009440
RegistrationError FregInv*EstFreg

   P   =   -0.0559,     0.0576,     0.0422
   R*x = 0.999999615812, -0.000868364788,  0.000119656103
   R*y = 0.000868395927,  0.999999589032, -0.000260430436
   R*z =-0.000119429905,  0.000260534245,  0.999999958929
Nav Point 0
0 WRT world:           402.82,   365.24,   341.36
0 Est WRT world (a):   402.75,   364.74,   340.93
0 Est WRT world (b):   402.81,   365.20,   341.46
0 WRT CT:               52.41,    66.46,    39.91
0 Est WRT CT:           52.35,    65.92,    39.47

Nav Point 1
1 WRT world:           396.92,   350.82,   360.15
1 Est WRT world (a):   397.92,   350.27,   360.04
1 Est WRT world (b):   397.04,   350.67,   360.13
1 WRT CT:               46.32,    52.61,    59.07
1 Est WRT CT:           47.34,    52.02,    58.95

Nav Point 2
2 WRT world:           406.31,   383.59,   373.21
2 Est WRT world (a):   406.16,   383.05,   373.04
2 Est WRT world (b):   406.19,   383.53,   373.49
2 WRT CT:               55.59,    85.75,    71.23
2 Est WRT CT:           55.43,    85.18,    71.05

Nav Point 3
3 WRT world:           412.74,   421.30,   458.10
3 Est WRT world (a):   413.95,   419.40,   458.07
3 Est WRT world (b):   412.91,   421.04,   458.06
3 WRT CT:               61.18,   126.00,   155.01
3 Est WRT CT:           62.35,   124.06,   155.03

