pa2-debug-f-auxilliary2.txt
Estimated Registration

   P   =  349.9694,   299.8454,   300.0950
   R*x = 0.999946427827,  0.000248627070, -0.010347930246
   R*y = 0.000052414196,  0.999577042454,  0.029081496707
   R*z = 0.010350783958, -0.029080481126,  0.999523479909
RegistrationError FregInv*EstFreg

   P   =   -0.0316,    -0.1516,     0.0993
   R*x = 0.999999934020,  0.000088108492, -0.000352416497
   R*y =-0.000088430863,  0.999999577631, -0.000914832414
   R*z = 0.000352335744,  0.000914863518,  0.999999519442
Nav Point 0
0 WRT world:           515.24,   366.93,   429.32
0 Est WRT world (a):   514.15,   367.11,   428.78
0 Est WRT world (b):   515.24,   366.85,   429.20
0 WRT CT:              163.94,    70.80,   128.90
0 Est WRT CT:          162.86,    70.99,   128.37

Nav Point 1
1 WRT world:           397.28,   342.31,   408.17
1 Est WRT world (a):   397.02,   342.71,   407.59
1 Est WRT world (b):   397.12,   342.30,   408.19
1 WRT CT:               46.20,    45.54,   107.32
1 Est WRT CT:           45.94,    45.98,   106.68

Nav Point 2
2 WRT world:           492.75,   422.97,   459.38
2 Est WRT world (a):   492.51,   423.57,   459.37
2 Est WRT world (b):   492.85,   423.03,   459.52
2 WRT CT:              141.16,   127.72,   157.04
2 Est WRT CT:          140.92,   128.31,   157.08

Nav Point 3
3 WRT world:           503.28,   334.93,   461.13
3 Est WRT world (a):   502.69,   335.18,   460.85
3 Est WRT world (b):   503.37,   334.82,   461.15
3 WRT CT:              151.66,    39.77,   161.53
3 Est WRT CT:          151.06,    40.00,   161.24

