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:           332.06,   445.39,   578.59
0 Est WRT world (a):   332.06,   445.39,   578.59
0 Est WRT world (b):   332.06,   445.39,   578.59
0 WRT CT:               28.89,    48.56,   158.26
0 Est WRT CT:           28.89,    48.56,   158.26

Nav Point 1
1 WRT world:           406.25,   472.01,   587.02
1 Est WRT world (a):   406.25,   472.01,   587.02
1 Est WRT world (b):   406.25,   472.01,   587.02
1 WRT CT:              102.90,    75.35,   167.64
1 Est WRT CT:          102.90,    75.35,   167.64

Nav Point 2
2 WRT world:           456.04,   477.64,   571.27
2 Est WRT world (a):   456.04,   477.64,   571.27
2 Est WRT world (b):   456.04,   477.64,   571.27
2 WRT CT:              152.99,    80.68,   152.78
2 Est WRT CT:          152.99,    80.68,   152.78

Nav Point 3
3 WRT world:           395.26,   427.44,   516.73
3 Est WRT world (a):   395.26,   427.44,   516.73
3 Est WRT world (b):   395.26,   427.44,   516.73
3 WRT CT:               93.31,    29.39,    98.05
3 Est WRT CT:           93.31,    29.39,    98.05

