pa2-debug-f-auxilliary2.txt
Estimated Registration

   P   =  350.0378,   300.1610,   299.8347
   R*x = 0.999957322558, -0.000439200151, -0.009228226605
   R*y = 0.000724363888,  0.999521579302,  0.030920669564
   R*z = 0.009210231267, -0.030926034543,  0.999479240418
RegistrationError FregInv*EstFreg

   P   =    0.0395,     0.1560,    -0.1697
   R*x = 0.999999529870, -0.000565822087,  0.000787467646
   R*y = 0.000565088252,  0.999999406209,  0.000931802928
   R*z =-0.000787994413, -0.000931357501,  0.999999255819
Nav Point 0
0 WRT world:           407.88,   350.69,   441.52
0 Est WRT world (a):   407.91,   349.59,   441.21
0 Est WRT world (b):   407.88,   350.59,   441.46
0 WRT CT:               56.47,    54.92,   140.51
0 Est WRT CT:           56.55,    53.82,   140.30

Nav Point 1
1 WRT world:           461.61,   336.00,   459.02
1 Est WRT world (a):   461.57,   335.17,   459.13
1 Est WRT world (b):   461.39,   336.09,   459.00
1 WRT CT:              110.02,    40.77,   158.98
1 Est WRT CT:          110.04,    40.00,   159.16

Nav Point 2
2 WRT world:           416.98,   417.69,   430.36
2 Est WRT world (a):   417.19,   417.14,   429.38
2 Est WRT world (b):   416.81,   417.63,   430.37
2 WRT CT:               65.69,   121.56,   127.43
2 Est WRT CT:           65.90,   120.97,   126.48

Nav Point 3
3 WRT world:           405.88,   373.75,   350.81
3 Est WRT world (a):   406.50,   372.97,   350.54
3 Est WRT world (b):   405.90,   373.93,   350.76
3 WRT CT:               55.38,    75.25,    49.13
3 Est WRT CT:           55.96,    74.38,    48.95

