pa2-debug-c-auxilliary2.txt
Estimated Registration

   P   =  325.0125,   274.9977,   299.9875
   R*x = 0.999747768679,  0.020104347042, -0.010010706802
   R*y =-0.020103339160,  0.999797887190,  0.000201307279
   R*z = 0.010012730661, -0.000000007869,  0.999949871356
RegistrationError FregInv*EstFreg

   P   =    0.0126,    -0.0025,    -0.0124
   R*x = 0.999999994311,  0.000106036142, -0.000011551352
   R*y =-0.000106034984,  0.999999989353,  0.000100256198
   R*z = 0.000011561982, -0.000100254972,  0.999999994908
Nav Point 0
0 WRT world:           398.75,   382.98,   453.65
0 Est WRT world (a):   398.58,   382.65,   453.65
0 Est WRT world (b):   398.77,   382.97,   453.64
0 WRT CT:               74.36,   106.50,   154.39
0 Est WRT CT:           74.17,   106.19,   154.39

Nav Point 1
1 WRT world:           484.36,   420.54,   337.01
1 Est WRT world (a):   484.22,   420.16,   336.97
1 Est WRT world (b):   484.36,   420.55,   337.02
1 WRT CT:              161.86,   142.33,    38.62
1 Est WRT CT:          161.72,   141.94,    38.58

Nav Point 2
2 WRT world:           427.84,   359.23,   379.72
2 Est WRT world (a):   427.40,   358.91,   379.67
2 Est WRT world (b):   427.85,   359.22,   379.73
2 WRT CT:              103.70,    82.17,    80.76
2 Est WRT CT:          103.25,    81.86,    80.70

Nav Point 3
3 WRT world:           448.26,   393.29,   385.76
3 Est WRT world (a):   447.82,   392.96,   385.64
3 Est WRT world (b):   448.28,   393.31,   385.76
3 WRT CT:              124.74,   115.81,    87.00
3 Est WRT CT:          124.30,   115.49,    86.88

