test20000.pgm
-------------
SVD values are 781.122946, 560.262807, 403.048325, 374.423227,
158.553685, 96.024617, 39.685359, 6.252796.
V is (-0.356701, 0.494747, -0.335968, -0.067881, -0.195556, 0.289473,
0.595832, 0.182906)
R before orthogonalization:
-0.283131 0.419107 0.862662
-0.512253 0.710500 -0.482480
-0.815132 -0.578507 0.013524

1.000000 1.000000 0.999293
R after orthogonalization:
-0.276392 0.409767 0.869309
-0.508623 0.705113 -0.494083
-0.815420 -0.578711 0.013529

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.991891
Tx is (-0.264816, 0.097483, ???)
***** FINAL OUTPUT *****
R:
0.276392 -0.409767 -0.869309
0.508623 -0.705113 0.494083
-0.815420 -0.578711 0.013529

(Tx, Ty, Tz) = -0.264816 0.097483 15.775262

Alpha = 0.991891

fx = -336.459919

press any key in the window or click to continue


test20010.pgm
-------------
SVD values are 836.844217, 562.899720, 465.133769, 382.226096,
159.934526, 103.379420, 49.202769, 9.653956.
V is (-0.373997, 0.522265, -0.278355, -0.052511, -0.154635, 0.235317,
0.624799, 0.193565)
R before orthogonalization:
-0.225640 0.343369 0.911693
-0.534219 0.746005 -0.397602
-0.816652 -0.576758 0.015106

1.000000 1.000000 0.999798
R after orthogonalization:
-0.221862 0.338096 0.914586
-0.532656 0.743622 -0.404108
-0.816734 -0.576817 0.015107

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.978910
Tx is (-0.282445, 0.075007, ???)
***** FINAL OUTPUT *****
R:
0.221862 -0.338096 -0.914586
0.532656 -0.743622 0.404108
-0.816734 -0.576817 0.015107

(Tx, Ty, Tz) = -0.282445 0.075007 14.071950

Alpha = 0.978910

fx = -293.411021

press any key in the window or click to continue

test20020.pgm
-------------
SVD values are 773.975739, 561.964945, 456.151910, 382.653272,
151.705845, 99.163382, 48.829804, 10.848408.
V is (-0.387349, 0.546705, -0.213425, -0.046635, -0.107316, 0.184246,
0.652695, 0.178537)
R before orthogonalization:
-0.156292 0.268329 0.950564
-0.550846 0.777464 -0.303510
-0.820470 -0.571051 0.026297

1.000000 1.000000 0.999962
R after orthogonalization:
-0.154585 0.265922 0.951519
-0.550369 0.776643 -0.306463
-0.820486 -0.571062 0.026298

1.000000 1.000000 1.000000
Alpha is 0.976464
Tx is (0.260016, -0.066319, ???)
***** FINAL OUTPUT *****
R:
-0.154585 0.265922 0.951519
-0.550369 0.776643 -0.306463
-0.820486 -0.571062 0.026298

(Tx, Ty, Tz) = 0.260016 -0.066319 12.742554

Alpha = 0.976464

fx = 261.443526




test20030.pgm
-------------
SVD values are 835.932102, 563.254913, 463.085823, 379.253277,
159.050609, 103.412382, 48.992714, 10.144071.
V is (-0.391783, 0.566755, -0.126192, -0.026949, -0.073229, 0.126365,
0.670894, 0.192914)
R before orthogonalization:
-0.106653 0.184042 0.977115
-0.559331 0.809131 -0.180158
-0.823770 -0.565745 0.016644

1.000000 1.000000 0.998942
R after orthogonalization:
-0.097591 0.170945 0.980436
-0.557817 0.806456 -0.196135
-0.824206 -0.566044 0.016653

1.000000 1.000000 1.000000
Alpha is 0.980238
Tx is (0.280967, -0.038474, ???)
***** FINAL OUTPUT *****
R:
-0.097591 0.170945 0.980436
-0.557817 0.806456 -0.196135
-0.824206 -0.566044 0.016653

(Tx, Ty, Tz) = 0.280967 -0.038474 11.390889

Alpha = 0.980238

fx = 226.443084

press any key in the window or click to continue



test20040.pgm
-------------
SVD values are 773.862512, 561.307404, 454.816886, 382.230700,
150.667935, 99.219031, 48.726776, 8.452338.
V is (-0.410387, 0.562557, -0.063182, 0.034688, -0.032497, 0.062196,
0.680846, 0.203571)
R before orthogonalization:
-0.047479 0.090870 0.994730
-0.586938 0.804573 -0.090363
-0.808545 -0.588135 0.015135

1.000000 1.000000 0.999877
R after orthogonalization:
-0.044226 0.086412 0.995277
-0.586702 0.804107 -0.095884
-0.808595 -0.588171 0.015136

1.000000 1.000000 1.000000
Alpha is 0.978909
Tx is (0.297422, 0.049610, ???)
***** FINAL OUTPUT *****
R:
-0.044226 0.086412 0.995277
-0.586702 0.804107 -0.095884
-0.808595 -0.588171 0.015136

(Tx, Ty, Tz) = 0.297422 0.049610 12.778361

Alpha = 0.978909

fx = 258.964466


test20050.pgm
-------------
SVD values are 706.205737, 555.331292, 402.069092, 375.248801,
151.798974, 90.389900, 39.947405, 10.366036.
V is (-0.413694, 0.560676, 0.007322, 0.062257, 0.009631, 0.002379,
0.684106, 0.206083)
R before orthogonalization:
0.014077 0.003477 0.999895
-0.593690 0.804625 0.010508
-0.804504 -0.593776 0.013391

1.000000 1.000000 0.999976
R after orthogonalization:
0.015545 0.001487 0.999878
-0.593731 0.804624 0.008035
-0.804514 -0.593783 0.013391

1.000000 1.000000 1.000000
Alpha is 0.981862
Tx is (0.301213, 0.089345, ???)
***** FINAL OUTPUT *****
R:
0.015545 0.001487 0.999878
-0.593731 0.804624 0.008035
-0.804514 -0.593783 0.013391

(Tx, Ty, Tz) = 0.301213 0.089345 11.023714

Alpha = 0.981862

fx = 215.108160


test20060.pgm
-------------
SVD values are 706.820479, 557.574058, 403.877727, 376.194029,
151.770213, 90.456524, 40.168542, 7.011364.
V is (0.405807, -0.563460, -0.084730, -0.061834, -0.053022, 0.054394,
-0.681014, -0.193081)
R before orthogonalization:
-0.077378 0.079380 -0.993837
0.580112 -0.805481 -0.121123
-0.810131 -0.585909 0.016277

1.000000 1.000000 0.999867
R after orthogonalization:
-0.080732 0.084036 -0.993187
0.580588 -0.805979 -0.115389
-0.810185 -0.585948 0.016278

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.979565
Tx is (0.281772, 0.088394, ???)
***** FINAL OUTPUT *****
R:
0.080732 -0.084036 0.993187
-0.580588 0.805979 0.115389
-0.810185 -0.585948 0.016278

(Tx, Ty, Tz) = 0.281772 0.088394 13.376875

Alpha = 0.979565

fx = 272.844365

test20070.pgm
-------------
alues are 640.455098, 538.347170, 396.812040, 349.173635,   139.760749,
74.777670, 29.026733, 23.500851.
V is (-0.465521, 0.421270, 0.135509, 0.426248, 0.049860, -0.106758,
0.582966, 0.228120)
R before orthogonalization:
0.083834 -0.179500 0.980179
-0.724779 0.655884 0.210977
-0.680755 -0.728100 -0.075113

1.000000 1.000000 0.999199
R after orthogonalization:
0.094121 -0.188840 0.977487
-0.726184 0.658623 0.197162
-0.681027 -0.728392 -0.075143

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.925986
Tx is (-0.383553, -0.663634, ???)
***** FINAL OUTPUT *****
R:
-0.094121 0.188840 -0.977487
0.726184 -0.658623 -0.197162
-0.681027 -0.728392 -0.075143

(Tx, Ty, Tz) = -0.383553 -0.663634 8.339646

Alpha = 0.925986

fx = -149.561748

press any key in the window or click to continue

test20080.pgm
-------------
SVD values are 706.193937, 557.965354, 403.132366, 375.049019,
150.818940, 90.426549, 39.966298, 6.821219.
V is (0.388189, -0.538612, -0.219597, -0.101703, -0.135045, 0.171003,
-0.647850, -0.182896)
R before orthogonalization:
-0.197575 0.250183 -0.947825
0.555114 -0.770219 -0.314025
-0.808597 -0.588194 0.013296

1.000000 1.000000 0.999978
R after orthogonalization:
-0.196263 0.248363 -0.948576
0.554651 -0.769634 -0.316270
-0.808606 -0.588201 0.013296

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.977427
Tx is (0.267583, 0.145436, ???)
***** FINAL OUTPUT *****
R:
0.196263 -0.248363 0.948576
-0.554651 0.769634 0.316270
-0.808606 -0.588201 0.013296

(Tx, Ty, Tz) = 0.267583 0.145436 14.304685

Alpha = 0.977427

fx = 295.454592

test20090.pgm
-------------
SVD values are 685.646118, 531.772503, 401.614688, 371.264124,
149.108371, 85.527503, 39.914652, 8.161322.
V is (-0.370668, 0.519949, 0.288673, 0.114539, 0.179094, -0.224000,
0.621898, 0.163704)
R before orthogonalization:
0.261512 -0.327083 0.908090
-0.528946 0.741972 0.411939
-0.808516 -0.588058 0.021025

1.000000 1.000000 0.999952
R after orthogonalization:
0.259683 -0.324516 0.909535
-0.528049 0.740851 0.415095
-0.808535 -0.588072 0.021026

1.000000 1.000000 1.000000
Alpha is 0.977274
Tx is (0.239040, 0.163448, ???)
***** FINAL OUTPUT *****
R:
0.259683 -0.324516 0.909535
-0.528049 0.740851 0.415095
-0.808535 -0.588072 0.021026

(Tx, Ty, Tz) = 0.239040 0.163448 13.976333

Alpha = 0.977274

fx = 288.369702


test20100.pgm
-------------
SVD values are 627.396990, 511.953332, 386.556029, 242.052096,
113.953268, 71.448364, 21.918239, 6.669744.
V is (-0.322893, 0.507225, 0.350696, 0.052086, 0.218287, -0.284283,
0.599603, 0.157393)
R before orthogonalization:
0.312480 -0.406955 0.858338
-0.463875 0.728690 0.503817
-0.830492 -0.555594 0.038925

1.000000 1.000000 0.999918
R after orthogonalization:
0.310391 -0.403670 0.860644
-0.462475 0.726870 0.507717
-0.830526 -0.555617 0.038927

1.000000 1.000000 1.000000
Alpha is 1.003570
Tx is (0.225310, 0.074828, ???)
***** FINAL OUTPUT *****
R:
0.310391 -0.403670 0.860644
-0.462475 0.726870 0.507717
-0.830526 -0.555617 0.038927

(Tx, Ty, Tz) = 0.225310 0.074828 13.745766

Alpha = 1.003570

fx = 283.294016