This TASK3 directory contains code for surface finding in 3D point
cloud data.

The test data is in directory: rngdata.asc

1) execute 'doall'

[note that surfaces are found in different orders each time.]


2) type return when it says waiting = 1

================================================================
> doall

countrem =       9693
ans =  1.0e+03 *     0.0000   -0.0000    0.0010    0.1781    0.0011    1.1780
countrem =       8067
ans =  1.0e+03 *     0.0000   -0.0000    0.0010    0.1791    0.0143    2.8040
countrem =       7019
ans =  1.0e+03 *     0.0000   -0.0000    0.0010    0.1792    0.0260    3.8520
countrem =       6346
ans =  1.0e+03 *     0.0000   -0.0000    0.0010    0.1792    0.0338    4.5250
countrem =       6285
ans =  1.0e+03 *     0.0000   -0.0000    0.0010    0.1792    0.0345    4.5860
countrem =       6285
waiting =    1
countrem =       5611
ans =  -0.0689    0.7026    0.7083  278.9556   12.4270  763.0000
countrem =       4755
ans =  1.0e+03 *    -0.0001    0.0007    0.0007    0.2800    0.0449    1.6190
countrem =       4136
ans =  1.0e+03 *    -0.0001    0.0007    0.0007    0.2808    0.0751    2.2380
countrem =       3805
ans =  1.0e+03 *    -0.0001    0.0007    0.0007    0.2810    0.0988    2.5690
countrem =       3660
ans =  1.0e+03 *    -0.0001    0.0007    0.0007    0.2812    0.1100    2.7140
waiting =    1
countrem =       3111
ans =  -0.6387   -0.5655    0.5218  201.3309    3.5867  612.0000
countrem =       2413
ans =  1.0e+03 *    -0.0006   -0.0006    0.0005    0.2032    0.0226    1.3100
countrem =       1860
ans =  1.0e+03 *    -0.0006   -0.0006    0.0005    0.2036    0.0662    1.8630
countrem =       1726
ans =  1.0e+03 *    -0.0006   -0.0006    0.0005    0.2037    0.0918    1.9970
waiting =    1
countrem =       1398
ans =   0.7762   -0.3959    0.4907 -278.1661    1.0563  384.0000
countrem =       1172
ans =   0.7757   -0.3954    0.4919 -277.6097    1.4437  610.0000
countrem =  915
ans =   0.7753   -0.3958    0.4922 -277.4679    2.3047  867.0000
countrem =  602
ans =  1.0e+03 *     0.0008   -0.0004    0.0005   -0.2769    0.0066    1.1800
countrem =  231
ans =  1.0e+03 *     0.0008   -0.0004    0.0005   -0.2753    0.0184    1.5510
countrem =   32
ans =  1.0e+03 *     0.0008   -0.0004    0.0005   -0.2749    0.0279    1.7500
countrem =   26
waiting =    1 

ans =
    0.0018   -0.0086    1.0000  179.2485
   -0.0755    0.7003    0.7099  281.2463
   -0.6378   -0.5599    0.5290  203.6537
    0.7693   -0.4002    0.4979 -274.8765
         0         0         0         0

matchedpairs =
     1     2
     2     3
     3     4

Rot =
   -0.7689    0.6354    0.0713
    0.4066    0.5719   -0.7125
   -0.4935   -0.5188   -0.6980

trans =
  359.0179
 -198.4749
 -162.2348

matchedpairs =
     1     3
     2     4
     3     2

Rot =
    0.0713   -0.7689    0.6354
   -0.7125    0.4066    0.5719
   -0.6980   -0.4935   -0.5188

trans =
  359.0179
 -198.4749
 -162.2348

matchedpairs =
     1     4
     2     2
     3     3

Rot =
    0.6354    0.0713   -0.7689
    0.5719   -0.7125    0.4066
   -0.5188   -0.6980   -0.4935

trans =
  359.0179
 -198.4749
 -162.2348

>>