This file contains commented 'ortho_compute.rst' debug output
(appears when compiling i.ortho.photo with DEBUG option) to
explain the algorithm of space resection by collinearity
(WOLF 1983), to estimate the camera position.

The initial values are fetched from photo.init.

+---------------> CAMERA INFO

          Xp = 0.000000  
          Yp = 0.000000 
          CFL  = 11.800000 



+---------------> INITIAL CAMERA POSITION

	XC = 1652015.000000  	YC = 5103337.000000 	ZC = 914.000000 
	Omega = 0.000000  	Phi = 0.349066 	Kappa = 0.000000 



+---------------> START ITERATIONS
NOTES: the iterations runs for all ground control points (photo.2target)
       up to convergence (check CONV_LIMIT in orthoref.c).

	ITERATION = 0 

	epsilon:
		XC = 	1652015.000000 
		YC = 	5103337.000000 
		ZC = 	914.000000 
		omega = 	0.000000 
		phi = 	0.349066 
		kappa = 	0.000000 


			In Summation count = 0 

			image:
 			x = 	-3.518434 
			y = 	-26.953172 
			z = 	-11.800000 
			object:
 			X = 	1652245.970342 
			Y = 	5102078.718011 
			Z = 	245.609802 

			residual:
 			E1 = 	13.095463 
			E2 = 	-0.087694 

			In Summation count = 1 

                        [...]
			In Summation count = 27 

			image:
 			x = 	7.524751 
			y = 	-22.332348 
			z = 	-11.800000 
			object:
 			X = 	1652190.615439 
			Y = 	5102020.440457 
			Z = 	245.175095 

			residual:
 			E1 = 	0.649684 
			E2 = 	-4.998227 

	N: 
	0.023232 	-0.007594 	0.041207 	-58.827999 	-26.156341 	7.749041 
	-0.007594 	0.015323 	-0.020863 	32.738698 	9.232664 	8.427460 
	0.041207 	-0.020863 	0.182047 	-254.246960 	-101.644418 	-40.353250 
	-58.827999 	32.738698 	-254.246960 	368915.286868 	143415.182361 	58185.471806 
	-26.156341 	9.232664 	-101.644418 	143415.182361 	64586.787232 	18735.832101 
	7.749041 	8.427460 	-40.353250 	58185.471806 	18735.832101 	35399.758551 

	C: 
	-14.836947 	-8.539461 	-84.342234 	111925.164496 	47871.166815 	13222.204463 

delta:
  
		XC = 	-1219.406696 
		YC = 	-1826.360825 
		ZC = 	-161.790295 
		omega = 	0.001796 
		phi = 	-0.000135 
		kappa = 	0.887921 

	ITERATION = 1 

	epsilon:
        [...]

			In Summation count = 27 

			image:
 			x = 	7.524751 
			y = 	-22.332348 
			z = 	-11.800000 
			object:
 			X = 	1652190.615439 
			Y = 	5102020.440457 
			Z = 	245.175095 

			residual:
 			E1 = 	-7.024750 
			E2 = 	4.126625 

	N: 
	0.819514 	-0.307804 	1.312018 	255.346340 	268.170123 	-66.377078 
	-0.307804 	0.464256 	-0.933819 	-366.240741 	-66.133208 	-27.950353 
	1.312018 	-0.933819 	3.294579 	800.366961 	379.031240 	6.166083 
	255.346340 	-366.240741 	800.366961 	559587.537244 	-39821.873986 	-18404.642985 
	268.170123 	-66.133208 	379.031240 	-39821.873986 	193768.925915 	60.527766 
	-66.377078 	-27.950353 	6.166083 	-18404.642985 	60.527766 	42735.824764 

	C: 
	0.233001 	-0.036477 	1.486549 	-826.080200 	-25274.180791 	-100.692644 

delta:
  
		XC = 	1.027356 
		YC = 	2.700360 
		ZC = 	1.664251 
		omega = 	-0.000402 
		phi = 	-0.006783 
		kappa = 	0.000602 

FINAL VALUES:
  
		XC = 	1652208.883240 
		YC = 	5101866.174669 
		ZC = 	108.036199 
		omega = 	0.092695 
		phi = 	0.267505 
		kappa = 	0.260912 

NOTES: These final values are the estimated camera position in target coordinates.