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:           473.04,   496.89,   468.49
0 Est WRT world (a):   473.04,   496.89,   468.49
0 Est WRT world (b):   473.04,   496.89,   468.49
0 WRT CT:              172.06,    97.87,    49.99
0 Est WRT CT:          172.06,    97.87,    49.99

Nav Point 1
1 WRT world:           356.52,   473.36,   485.16
1 Est WRT world (a):   356.52,   473.36,   485.16
1 Est WRT world (b):   356.52,   473.36,   485.16
1 WRT CT:               55.22,    74.66,    64.80
1 Est WRT CT:           55.22,    74.66,    64.80

Nav Point 2
2 WRT world:           470.01,   558.73,   535.22
2 Est WRT world (a):   470.01,   558.73,   535.22
2 Est WRT world (b):   470.01,   558.73,   535.22
2 WRT CT:              167.71,   161.04,   115.40
2 Est WRT CT:          167.71,   161.04,   115.40

Nav Point 3
3 WRT world:           456.72,   466.89,   497.11
3 Est WRT world (a):   456.72,   466.89,   497.11
3 Est WRT world (b):   456.72,   466.89,   497.11
3 WRT CT:              155.16,    68.45,    78.88
3 Est WRT CT:          155.16,    68.45,    78.88

