anchor.diff:     (14.0 756.7466949303281 844.56505998819)
      (14.5 760.5779428663861 844.685762945345)
      (15.0 764.1559084493797 844.7983237485788)))
  +
  +
  +(rt:deftest epipolar/3
  +    (let ((global-car-reference-point
  +           '(731651.936 5379722.405 439.69
  +             2.138 -1.406 67.077
  +             48.52781512940818 12.137770422789336)))
  +      (setf *read-default-float-format* 'double-float)
  +      (del-all)
  +      (add-cam 1500 1700 0.007397
  +               0.0 0.0 0.0
  +               0.0 0.0 0.0
  +               -10.18083 -0.08149 0.19289
  +               -9.13833e-4 1.04652e-5 0.0
  +               -5.35737e-5 9.49128e-5
  +               -1.33724e-4 2.11705e-4 4.715882
  +               -1.477057713 1.534101279 2.022740812 0.0 0.0 0.0
  +               1.451034299 -0.08489628795 -0.001997345786 0.0 0.0 0.0)
  +      (add-bpoint 1313.44921875 321.73046875)
  +      (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point)
  +      (add-cam 1500 1700 0.007397
  +               1.1186306799999999 0.0028390399999999997 -0.09305154
  +               -0.00133668 0.17822421 0.02194869
  +               -10.19408 -0.00529 0.23262
  +               -9.22005e-4 1.0648e-5 0.0
  +               -6.0248e-5 -1.31699e-5
  +               -1.15248e-4 1.95328e-4 4.715882
  +               -0.3475010749 1.532254309 2.021913699 0.0 0.0 0.0
  +               1.450387893 0.09424800356 0.02078575518 0.0 0.0 0.0)
  +      (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point)
  +      (prog1
  +          (loop
  +             for i from 4d0 upto 15d0 by .5d0
  +             do
  +             (set-distance-for-epipolar-line i)
  +             (calculate)
  +             collect (list i (get-m) (get-n)))
  +        (del-all)))
  +nil)
  + 
  + 
  + 
  +(731651.936 5379722.405 439.69 2.138 -1.406 67.077 48.52781512940818
  + 12.137770422789336)
  +
   
   (rt:deftest multi-car-position/1
       (progn
  
positive.code:    (38.0d0 669.3626651434224d0 409.71025002804396d0)
     (45.0d0 676.1558194809563d0 410.7305574257181d0)))
  
  (rt:deftest epipolar/3
      (let ((global-car-reference-point   ; pic 13
             '(641754.64076d0 5638452.77658d0 296.79691d0
               -0.2235410d0 -0.6600010d0 214.0967730d0
  
negative.code:       (apply #'add-cam *cam-right*)
        (prog1
            (loop
               for i from 4d0 upto 30d0 by .5d0
               do
                 (set-distance-for-epipolar-line i)
                 (calculate)
  