pa2-debug-a-auxilliary2.txt
Estimated Registration

   P   =  305.0000,   300.0000,   255.0000
   R*x = 1.000000000000,  0.000000000000,  0.000000000000
   R*y =-0.000000000000,  0.999950000417,  0.009999833334
   R*z =-0.000000000000, -0.009999833334,  0.999950000417
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:           409.85,   406.95,   313.95
0 Est WRT world (a):   409.85,   406.95,   313.95
0 Est WRT world (b):   409.85,   406.95,   313.95
0 WRT CT:              104.85,   107.54,    57.88
0 Est WRT CT:          104.85,   107.54,    57.88

Nav Point 1
1 WRT world:           404.23,   427.11,   377.26
1 Est WRT world (a):   404.23,   427.11,   377.26
1 Est WRT world (b):   404.23,   427.11,   377.26
1 WRT CT:               99.23,   128.33,   120.98
1 Est WRT CT:           99.23,   128.33,   120.98

Nav Point 2
2 WRT world:           392.85,   371.87,   415.40
2 Est WRT world (a):   392.85,   371.87,   415.40
2 Est WRT world (b):   392.85,   371.87,   415.40
2 WRT CT:               87.85,    73.47,   159.67
2 Est WRT CT:           87.85,    73.47,   159.67

Nav Point 3
3 WRT world:           438.10,   375.58,   293.62
3 Est WRT world (a):   438.10,   375.58,   293.62
3 Est WRT world (b):   438.10,   375.58,   293.62
3 WRT CT:              133.10,    75.96,    37.86
3 Est WRT CT:          133.10,    75.96,    37.86

