anchor.diff:        (apply #'add-global-car-reference-point *global-car-reference-point*)
         (set-global-reference-frame)
         (calculate)
  -      (values (get-m) (get-n)))
  +      (multiple-value-prog1
  +          (values (get-m) (get-n))
  +        (del-all)))
     755.9999994508227d0 345.0000006141719d0)
   
  -;(rt:deftest epipolar/1
  -; ... ?)
  -
  -(rt:deftest multi-car-position/1
  -    (progn
  -      (del-all)
  -      (set-global-reference-frame)
  -      (apply #'add-cam *cam-left*) ; pic 13
  +(rt:deftest epipolar/1
  +    (progn
  +      (del-all)
  +      (apply #'add-cam *cam-left*)
         (add-bpoint 756d0 345d0)
  -      (apply #'add-global-car-reference-point-cam-set-global *global-car-reference-point*)
         (apply #'add-cam *cam-right*)
  -      (add-bpoint 401d0 370d0)
  -      (apply #'add-global-car-reference-point-cam-set-global *global-car-reference-point*)
  -      (let ((global-car-reference-point ; pic 12
  -             '(641754.9447785d0 5638453.2901614d0 296.8227930d0
  -               0.0109420d0 -0.9424530d0 212.0283640d0
  -               50.8803453d0 11.0150821d0)))
  -        (apply #'add-cam *cam-left*)
  -        (add-bpoint 715d0 325d0)
  -        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point)
  -        (apply #'add-cam *cam-right*)
  -        (add-bpoint 395d0 316d0)
  -        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point))
  -      (let ((global-car-reference-point ; pic 10
  -             '(641753.5016304d0 5638454.2034647d0 296.7935520d0
  -               -0.1139750d0 -0.5450980d0 190.7414720d0
  -               50.8803539d0 11.0150620d0)))
  -        (apply #'add-cam *cam-left*)
  -        (add-bpoint 985d0 369d0)
  -        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point)
  -        (apply #'add-cam *cam-right*)
  -        (add-bpoint 506d0 381d0)
  -        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point))
  -      (let ((global-car-reference-point ; pic 1
  -             '(641755.4308509d0 5638456.1936776d0 296.8429180d0
  -               -0.2612280d0 -1.5055340d0 219.9422050d0
  -               50.8803713d0 11.0150901d0)))
  -        (apply #'add-cam *cam-left*)
  -        (add-bpoint 65d0 305d0)
  -        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point))
  -      (calculate)
  -      (values (get-x-local) (get-y-local) (get-z-local)
  -              (get-stdx-local) (get-stdy-local) (get-stdz-local)
  -              (get-x-global) (get-y-global) (get-z-global)
  -              (get-stdx-global) (get-stdy-global) (get-stdz-global)))
  -  nil)
  -
  +      (prog1
  +          (loop
  +             for i from 3d0 upto 50d0 by 7d0
  +             do
  +               (set-distance-for-epipolar-line i)
  +               (calculate)
  +             collect (list i (get-m) (get-n)))
  +        (del-all)))
  +  ((3.0d0 348.8838003312308d0 362.92922097055947d0)
  +   (10.0d0 562.3853909475243d0 393.8075286053437d0)
  +   (17.0d0 618.790875020272d0 402.15394569448256d0)
  +   (24.0d0 644.7568644672281d0 406.02503563147326d0)
  +   (31.0d0 659.6776642730952d0 408.2577629003564d0)
  +   (38.0d0 669.3626651434224d0 409.71025002804396d0)
  +   (45.0d0 676.1558194809563d0 410.7305574257181d0)))
  +
  +;;(rt:deftest multi-car-position/1
  +;;    (progn
  +;;      (del-all)
  +;;      (set-global-reference-frame)
  +;;      (let ((global-car-reference-point ; pic 13
  +;;             '(641754.64076d0 5638452.77658d0 296.79691d0
  +;;               -0.2235410d0 -0.6600010d0 214.0967730d0
  +;;               50.8803408d0 11.0150776d0)))
  +;;        (apply #'add-cam *cam-left*)
  +;;        (add-bpoint 756d0 345d0)
  +;;        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point)
  +;;        (apply #'add-cam *cam-right*)
  +;;        (add-bpoint 401d0 370d0)
  +;;        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point))
  +;;      (let ((global-car-reference-point ; pic 12
  +;;             '(641754.9447785d0 5638453.2901614d0 296.8227930d0
  +;;               0.0109420d0 -0.9424530d0 212.0283640d0
  +;;               50.8803453d0 11.0150821d0)))
  +;;        (apply #'add-cam *cam-left*)
  +;;        (add-bpoint 715d0 325d0)
  +;;        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point)
  +;;        (apply #'add-cam *cam-right*)
  +;;        (add-bpoint 395d0 360d0)
  +;;        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point))
  +;;      (let ((global-car-reference-point ; pic 10
  +;;             '(641753.5016304d0 5638454.2034647d0 296.7935520d0
  +;;               -0.1139750d0 -0.5450980d0 190.7414720d0
  +;;               50.8803539d0 11.0150620d0)))
  +;;        (apply #'add-cam *cam-left*)
  +;;        (add-bpoint 985d0 369d0)
  +;;        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point)
  +;;        (apply #'add-cam *cam-right*)
  +;;        (add-bpoint 506d0 381d0)
  +;;        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point))
  +;;      (let ((global-car-reference-point ; pic 1
  +;;             '(641755.4308509d0 5638456.1936776d0 296.8429180d0
  +;;               -0.2612280d0 -1.5055340d0 219.9422050d0
  +;;               50.8803713d0 11.0150901d0)))
  +;;        (apply #'add-cam *cam-left*)
  +;;        (add-bpoint 65d0 305d0)
  +;;        (apply #'add-global-car-reference-point-cam-set-global global-car-reference-point))
  +;;      (calculate)
  +;;      (multiple-value-prog1
  +;;          (values (get-x-local) (get-y-local) (get-z-local)
  +;;                  (get-stdx-local) (get-stdy-local) (get-stdz-local)
  +;;                  (get-x-global) (get-y-global) (get-z-global)
  +;;                  (get-stdx-global) (get-stdy-global) (get-stdz-global))
  +;;        (del-all)))
  +;;  nil)
  
positive.code:       (apply #'add-global-car-reference-point *global-car-reference-point*)
        (set-global-reference-frame)
        (calculate)
        (values (get-m) (get-n)))
    400.96040801712263d0 370.25506200401304d0)
  
  (rt:deftest mono/1
  
negative.code:        0d0 0d0 0d0 0d0 0d0 0d0 0d0 0d0 0d0 0d0 0d0 0d0)
        (add-bpoint 223d0 300d0)
        (calculate)
        (multiple-value-prog1 
            (values
             (get-m) (get-n)
             (get-x-local) (get-y-local) (get-z-local)
             (get-stdx-local) (get-stdy-local) (get-stdz-local)
             (get-x-global) (get-y-global) (get-z-global)
             (get-stdx-global) (get-stdy-global) (get-stdz-global))
          (del-all)))
    223.0d0 300.0d0
    -1062.3945612937443d0 1587.5888858836176d0 -7728.733215755937d0
    5.473015866381161d0 12.58146038763985d0 57.68237735678784d0
  