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:           358.92,   496.42,   477.78
0 Est WRT world (a):   358.92,   496.42,   477.78
0 Est WRT world (b):   358.92,   496.42,   477.78
0 WRT CT:               57.77,    97.57,    57.00
0 Est WRT CT:           57.77,    97.57,    57.00

Nav Point 1
1 WRT world:           448.56,   554.61,   454.05
1 Est WRT world (a):   448.56,   554.61,   454.05
1 Est WRT world (b):   448.56,   554.61,   454.05
1 WRT CT:              147.88,   155.29,    33.91
1 Est WRT CT:          147.88,   155.29,    33.91

Nav Point 2
2 WRT world:           373.88,   563.18,   494.48
2 Est WRT world (a):   373.88,   563.18,   494.48
2 Est WRT world (b):   373.88,   563.18,   494.48
2 WRT CT:               72.41,   164.65,    72.67
2 Est WRT CT:           72.41,   164.65,    72.67

Nav Point 3
3 WRT world:           442.49,   554.25,   546.48
3 Est WRT world (a):   442.49,   554.25,   546.48
3 Est WRT world (b):   442.49,   554.25,   546.48
3 WRT CT:              139.96,   156.77,   126.19
3 Est WRT CT:          139.96,   156.77,   126.19

