pa2-debug-f-auxilliary2.txt
Estimated Registration

   P   =  349.8810,   300.1680,   299.7947
   R*x = 0.999939997168, -0.000170397561, -0.010953219975
   R*y = 0.000518823778,  0.999493626506,  0.031815427025
   R*z = 0.010942252284, -0.031819200800,  0.999433742464
RegistrationError FregInv*EstFreg

   P   =   -0.1169,     0.1617,    -0.2114
   R*x = 0.999999492722, -0.000348884224, -0.000944899258
   R*y = 0.000350608143,  0.999998273412,  0.001824896433
   R*z = 0.000944260949, -0.001825226797,  0.999997888457
Nav Point 0
0 WRT world:           500.75,   449.55,   363.43
0 Est WRT world (a):   502.09,   450.11,   361.70
0 Est WRT world (b):   500.98,   449.60,   363.36
0 WRT CT:              150.13,   151.40,    60.42
0 Est WRT CT:          151.50,   151.92,    58.77

Nav Point 1
1 WRT world:           503.21,   361.28,   390.74
1 Est WRT world (a):   504.35,   361.72,   389.63
1 Est WRT world (b):   503.17,   361.37,   390.67
1 WRT CT:              152.31,    64.00,    90.39
1 Est WRT CT:          153.47,    64.46,    89.52

Nav Point 2
2 WRT world:           375.95,   411.36,   340.30
2 Est WRT world (a):   377.22,   411.38,   340.45
2 Est WRT world (b):   375.68,   411.17,   340.34
2 WRT CT:               25.56,   112.52,    37.20
2 Est WRT CT:           26.87,   112.46,    37.39

Nav Point 3
3 WRT world:           436.75,   425.58,   416.90
3 Est WRT world (a):   437.66,   425.68,   415.96
3 Est WRT world (b):   436.90,   425.67,   417.01
3 WRT CT:               85.60,   129.04,   113.94
3 Est WRT CT:           86.48,   129.19,   113.07

