test0000.pgm
------------
SVD values are 661.447257, 488.853418, 388.389991, 305.802951,
133.801888, 85.845221, 40.195796, 8.024436.
V is (0.369354, -0.551839, -0.008488, -0.052728, -0.035095, -0.026737,
-0.680355, 0.302275)
R before orthogonalization:
-0.051476 -0.039216 -0.997904
0.556177 -0.830966 -0.012781
-0.828723 -0.555669 0.064586

1.000000 1.000000 0.999721
R after orthogonalization:
-0.056129 -0.032275 -0.997902
0.556665 -0.830725 -0.004443
-0.828838 -0.555747 0.064595

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 1.026637
Tx is (-0.443360, 0.079398, ???)
***** FINAL OUTPUT *****
R:
0.056129 0.032275 0.997902
-0.556665 0.830725 0.004443
-0.828838 -0.555747 0.064595

(Tx, Ty, Tz) = -0.443360 0.079398 10.837717

Alpha = 1.026637

fx = 217.703647



test0010.pgm
------------
SVD values are 776.321791, 522.582326, 444.101261, 369.680366,
163.681318, 100.180193, 47.702666, 8.978170.
V is (0.350181, -0.586226, 0.050127, -0.021809, 0.088402, -0.006992,
-0.694863, -0.200067)
R before orthogonalization:
0.126199 -0.009982 -0.991955
0.511445 -0.856192 0.073211
-0.850034 -0.516569 -0.102946

1.000000 1.000000 1.000000
R after orthogonalization:
0.126080 -0.009781 -0.991972
0.511415 -0.856189 0.073443
-0.850034 -0.516569 -0.102946

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 1.023089
Tx is (0.285606, 0.031852, ???)
***** FINAL OUTPUT *****
R:
-0.126080 0.009781 0.991972
-0.511415 0.856189 -0.073443
-0.850034 -0.516569 -0.102946

(Tx, Ty, Tz) = 0.285606 0.031852 10.775571

Alpha = 1.023089

fx = 218.884874

press any key in the window or click to continue

test0020.pgm
------------
SVD values are 732.555152, 515.284999, 414.156817, 378.590924,
146.314022, 91.843359, 38.671774, 9.231362.
V is (-0.357723, 0.574844, -0.101546, 0.155224, -0.199028, 0.003916,
0.658278, 0.184998)
R before orthogonalization:
-0.289403 0.005694 0.957190
-0.522503 0.839637 -0.148322
-0.804537 -0.543060 -0.240019

1.000000 1.000000 0.999803
R after orthogonalization:
-0.285760 -0.000193 0.958301
-0.520512 0.839659 -0.155045
-0.804617 -0.543113 -0.240042

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 1.004507
Tx is (-0.269003, -0.226725, ???)
***** FINAL OUTPUT *****
R:
0.285760 0.000193 -0.958301
0.520512 -0.839659 0.155045
-0.804617 -0.543113 -0.240042

(Tx, Ty, Tz) = -0.269003 -0.226725 11.222903

Alpha = 1.004507

fx = -225.233400

press any key in the window or click to continue


test0030.pgm
------------
SVD values are 801.544137, 555.385348, 483.140957, 437.921961,
401.270520, 102.164963, 58.976253, 17.010905.
V is (-0.389165, 0.472523, -0.210870, 0.362912, -0.295172, -0.020572,
0.568498, 0.195859)
R before orthogonalization:
-0.460566 -0.032099 0.887045
-0.601072 0.729819 -0.325693
-0.636928 -0.683181 -0.355424

1.000000 1.000000 0.998740
R after orthogonalization:
-0.471460 -0.019151 0.881679
-0.609538 0.729594 -0.310090
-0.637330 -0.683612 -0.355648

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.989865
Tx is (-0.305604, -0.560523, ???)
***** FINAL OUTPUT *****
R:
0.471460 0.019151 -0.881679
0.609538 -0.729594 0.310090
-0.637330 -0.683612 -0.355648

(Tx, Ty, Tz) = -0.305604 -0.560523 11.599915

Alpha = 0.989865

fx = -242.185502

press any key in the window or click to continue


test0040.pgm
------------
SVD values are 956.664563, 691.256961, 616.807211, 529.020330,
511.899000, 131.486438, 121.129608, 17.324862.
V is (0.328330, -0.543621, 0.240793, -0.281703, 0.374150, -0.011212,
-0.564095, -0.031950)
R before orthogonalization:
0.552666 -0.016562 -0.833238
0.483410 -0.800391 0.354527
-0.672787 -0.598731 -0.434343

1.000000 1.000000 0.999775
R after orthogonalization:
0.556335 -0.022561 -0.830652
0.487592 -0.800582 0.348313
-0.672863 -0.598798 -0.434392

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.996756
Tx is (0.047195, 0.414761, ???)
***** FINAL OUTPUT *****
R:
-0.556335 0.022561 0.830652
-0.487592 0.800582 -0.348313
-0.672863 -0.598798 -0.434392

(Tx, Ty, Tz) = 0.047195 0.414761 15.397190

Alpha = 0.996756

fx = 335.986394

press any key in the window or click to continue


test0050.pgm
------------
SVD values are 954.883797, 681.314585, 612.905449, 536.805967,
511.512314, 126.749777, 122.814338, 14.512269.
V is (-0.281981, 0.547059, -0.283765, 0.281696, -0.453970, 0.014119,
0.501260, -0.061560)
R before orthogonalization:
-0.671132 0.020872 0.741044
-0.416070 0.807201 -0.418703
-0.606910 -0.589332 -0.533054

1.000000 1.000000 0.999799
R after orthogonalization:
-0.674135 0.026602 0.738129
-0.420864 0.807410 -0.413476
-0.606972 -0.589391 -0.533108

1.000000 1.000000 1.000000
Alpha is 0.998082
Tx is (-0.091008, 0.415650, ???)
***** FINAL OUTPUT *****
R:
-0.674135 0.026602 0.738129
-0.420864 0.807410 -0.413476
-0.606972 -0.589391 -0.533108

(Tx, Ty, Tz) = -0.091008 0.415650 13.816410

Alpha = 0.998082

fx = 294.754138

press any key in the window or click to continue

test0060.pgm
------------
SVD values are 949.728605, 651.990129, 610.984829, 516.247929,
507.353861, 127.345314, 120.650826, 12.387565.
V is (0.228516, -0.550014, 0.324033, -0.264855, 0.521961, -0.012128,
-0.423672, 0.134282)
R before orthogonalization:
0.776294 -0.018037 -0.630112
0.337026 -0.811188 0.477900
-0.519759 -0.583355 -0.623642

1.000000 1.000000 0.999382
R after orthogonalization:
0.780667 -0.028131 -0.624314
0.346760 -0.811600 0.470173
-0.519920 -0.583536 -0.623834

1.000000 1.000000 1.000000
Alpha is 0.991651
Tx is (0.199714, -0.390621, ???)
***** FINAL OUTPUT *****
R:
0.780667 -0.028131 -0.624314
0.346760 -0.811600 0.470173
-0.519920 -0.583536 -0.623834

(Tx, Ty, Tz) = 0.199714 -0.390621 13.874369

Alpha = 0.991651

fx = -294.465674

press any key in the window or click to continue

test0070.pgm
------------
SVD values are 812.465659, 624.933578, 515.544743, 480.564357,
446.937836, 118.916931, 113.749301, 17.817883.
V is (0.165568, -0.560561, 0.342331, -0.206576, 0.579147, -0.010556,
-0.339327, 0.218697)
R before orthogonalization:
0.862703 -0.015725 -0.505466
0.244428 -0.827554 0.505381
-0.426247 -0.559544 -0.710090

1.000000 1.000000 0.999003
R after orthogonalization:
0.866887 -0.028802 -0.497672
0.258146 -0.828111 0.497586
-0.426459 -0.559823 -0.710444

1.000000 1.000000 1.000000
Alpha is 0.991061
Tx is (0.325774, -0.304967, ???)
***** FINAL OUTPUT *****
R:
0.866887 -0.028802 -0.497672
0.258146 -0.828111 0.497586
-0.426459 -0.559823 -0.710444

(Tx, Ty, Tz) = 0.325774 -0.304967 13.649003

Alpha = 0.991061

fx = -286.771423

test0080.pgm
------------
SVD values are 701.527536, 486.199505, 391.185187, 366.238738,
139.001862, 89.406126, 40.298909, 6.679382.
V is (-0.125997, 0.524972, -0.379794, 0.230310, -0.599128, 0.022157,
0.240494, -0.306531)
R before orthogonalization:
-0.927480 0.034300 0.372297
-0.190880 0.795308 -0.575370
-0.315826 -0.604708 -0.731084

1.000000 1.000000 0.999902
R after orthogonalization:
-0.928458 0.038235 0.369465
-0.195475 0.795507 -0.573549
-0.315841 -0.604737 -0.731120

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.978621
Tx is (0.474525, -0.348909, ???)
***** FINAL OUTPUT *****
R:
0.928458 -0.038235 -0.369465
0.195475 -0.795507 0.573549
-0.315841 -0.604737 -0.731120

(Tx, Ty, Tz) = 0.474525 -0.348909 14.561156

Alpha = 0.978621

fx = -308.678698

test0090.pgm
------------
SVD values are 720.092620, 516.774510, 401.515275, 356.807530,
160.975084, 96.154715, 40.212990, 7.696116.
V is (-0.066146, 0.531812, -0.394104, 0.175671, -0.631981, 0.022688,
0.142427, -0.326226)
R before orthogonalization:
-0.974936 0.034999 0.219717
-0.099434 0.799453 -0.592442
-0.196389 -0.599440 -0.775935

1.000000 1.000000 0.999972
R after orthogonalization:
-0.975207 0.037097 0.218165
-0.101993 0.799553 -0.591872
-0.196391 -0.599448 -0.775946

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.974459
Tx is (0.503257, -0.264080, ???)
***** FINAL OUTPUT *****
R:
0.975207 -0.037097 -0.218165
0.101993 -0.799553 0.591872
-0.196391 -0.599448 -0.775946

(Tx, Ty, Tz) = 0.503257 -0.264080 12.277413

Alpha = 0.974459

fx = -248.483865



test0100.pgm
------------
SVD values are 705.173831, 526.191939, 404.532458, 363.298421,
161.444941, 90.848942, 39.896894, 10.788136.
V is (-0.005777, 0.567186, -0.423482, 0.129556, -0.688984, 0.012330,
0.024764, -0.081737)
R before orthogonalization:
-0.999195 0.017882 0.035914
-0.008161 0.801265 -0.598254
-0.039475 -0.598066 -0.800474

1.000000 1.000000 0.999999
R after orthogonalization:
-0.999191 0.017483 0.036212
-0.007663 0.801256 -0.598272
-0.039475 -0.598066 -0.800474

1.000000 1.000000 1.000000
Reversing signs of first two rows of R, Tx, and Ty.
Alpha is 0.974115
Tx is (0.118538, -0.183023, ???)
***** FINAL OUTPUT *****
R:
0.999191 -0.017483 -0.036212
0.007663 -0.801256 0.598272
-0.039475 -0.598066 -0.800474

(Tx, Ty, Tz) = 0.118538 -0.183023 10.319931

Alpha = 0.974115

fx = -198.733144