pa2-debug-e-auxilliary2.txt
Estimated Registration

   P   =  249.6772,   300.0003,   350.1296
   R*x = 0.999576365928,  0.029092574128, -0.000843095123
   R*y =-0.029092898562,  0.999576641647, -0.000375136131
   R*z = 0.000831824516,  0.000399505291,  0.999999574232
RegistrationError FregInv*EstFreg

   P   =   -0.3227,     0.0100,     0.1296
   R*x = 0.999999236611, -0.000903309635, -0.000843095123
   R*y = 0.000902993618,  0.999999521938, -0.000375136131
   R*z = 0.000843433584,  0.000374374535,  0.999999574232
Nav Point 0
0 WRT world:           382.95,   330.96,   427.13
0 Est WRT world (a):   383.63,   329.37,   427.88
0 Est WRT world (b):   382.78,   330.88,   427.13
0 WRT CT:              133.82,    26.96,    77.13
0 Est WRT CT:          134.69,    25.43,    77.87

Nav Point 1
1 WRT world:           358.18,   422.59,   440.51
1 Est WRT world (a):   358.89,   421.06,   441.18
1 Est WRT world (b):   358.14,   422.54,   440.45
1 WRT CT:              111.81,   119.29,    90.51
1 Est WRT CT:          112.61,   117.80,    91.19

Nav Point 2
2 WRT world:           394.62,   354.49,   493.30
2 Est WRT world (a):   395.49,   352.81,   494.01
2 Est WRT world (b):   394.47,   354.33,   493.14
2 WRT CT:              146.19,    50.13,   143.30
2 Est WRT CT:          147.17,    48.50,   144.02

Nav Point 3
3 WRT world:           281.63,   342.74,   521.00
3 Est WRT world (a):   282.38,   340.82,   521.44
3 Est WRT world (b):   281.61,   342.55,   520.94
3 WRT CT:               32.90,    41.77,   171.00
3 Est WRT CT:           33.73,    39.78,   171.36

