pa2-debug-c-auxilliary2.txt
Estimated Registration

   P   =  325.0152,   274.9717,   299.9797
   R*x = 0.999748542635,  0.020099414075, -0.009943090746
   R*y =-0.020100195629,  0.999797970432,  0.000021332639
   R*z = 0.009941510721,  0.000178530795,  0.999950566024
RegistrationError FregInv*EstFreg

   P   =    0.0148,    -0.0286,    -0.0202
   R*x = 0.999999993318,  0.000101095445,  0.000056068569
   R*y =-0.000101090977,  0.999999991716, -0.000079678003
   R*z =-0.000056076624,  0.000079672335,  0.999999995254
Nav Point 0
0 WRT world:           468.10,   401.39,   406.33
0 Est WRT world (a):   468.31,   401.36,   406.32
0 Est WRT world (b):   468.09,   401.39,   406.33
0 WRT CT:              144.53,   123.52,   107.77
0 Est WRT CT:          144.74,   123.48,   107.78

Nav Point 1
1 WRT world:           470.60,   409.79,   381.99
1 Est WRT world (a):   470.88,   409.71,   381.91
1 Est WRT world (b):   470.60,   409.79,   381.98
1 WRT CT:              147.44,   131.86,    83.45
1 Est WRT CT:          147.72,   131.78,    83.40

Nav Point 2
2 WRT world:           421.65,   440.64,   399.22
2 Est WRT world (a):   421.87,   440.59,   399.01
2 Est WRT world (b):   421.65,   440.62,   399.18
2 WRT CT:               98.94,   163.69,   100.19
2 Est WRT CT:           99.17,   163.64,   100.02

Nav Point 3
3 WRT world:           459.06,   375.22,   458.35
3 Est WRT world (a):   459.47,   375.32,   458.13
3 Est WRT world (b):   459.06,   375.21,   458.34
3 WRT CT:              134.45,    97.53,   159.69
3 Est WRT CT:          134.87,    97.63,   159.50

