pa2-debug-c-auxilliary2.txt
Estimated Registration

   P   =  325.0205,   274.9962,   299.9917
   R*x = 0.999751792841,  0.019992489982, -0.009831228586
   R*y =-0.019992906025,  0.999800120312,  0.000055969201
   R*z = 0.009830382487,  0.000140599520,  0.999951670738
RegistrationError FregInv*EstFreg

   P   =    0.0205,    -0.0042,    -0.0081
   R*x = 0.999999985880, -0.000005861077,  0.000167946943
   R*y = 0.000005868462,  0.999999999016, -0.000043970151
   R*z =-0.000167946685,  0.000043971136,  0.999999984930
Nav Point 0
0 WRT world:           364.77,   373.13,   385.38
0 Est WRT world (a):   364.81,   373.39,   385.44
0 Est WRT world (b):   364.77,   373.14,   385.37
0 WRT CT:               40.86,    97.32,    85.78
0 Est WRT CT:           40.91,    97.58,    85.85

Nav Point 1
1 WRT world:           420.78,   340.13,   407.63
1 Est WRT world (a):   420.72,   340.33,   407.61
1 Est WRT world (b):   420.78,   340.12,   407.62
1 WRT CT:               95.98,    63.21,   108.59
1 Est WRT CT:           95.93,    63.42,   108.56

Nav Point 2
2 WRT world:           371.31,   426.51,   404.84
2 Est WRT world (a):   371.26,   426.82,   405.01
2 Est WRT world (b):   371.32,   426.52,   404.83
2 WRT CT:               48.28,   150.57,   105.32
2 Est WRT CT:           48.23,   150.88,   105.49

Nav Point 3
3 WRT world:           477.47,   413.42,   351.41
3 Est WRT world (a):   477.39,   413.61,   351.47
3 Est WRT world (b):   477.48,   413.42,   351.43
3 WRT CT:              154.68,   135.35,    52.95
3 Est WRT CT:          154.59,   135.54,    53.00

