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model = [ 0.0685 0.6383 0.4558 0.7411 -0.7219 0.7081 0.7061 0.2887 -0.9521 -0.2553;
0.4636 0.0159 -0.1010 0.2817 0.6638 0.1582 0.3925 -0.7954 0.6965 -0.7795;
0 0 0 0 0 0 0 0 0 0 ];
iprts =[ -0.0168 0.0377 0.0277 0.0373 -0.0824 0.0386 0.0317 0.0360 -0.1015 -0.0080;
0.0866 0.1179 0.1233 0.1035 0.0667 0.1102 0.0969 0.1660 0.0622 0.1608;
1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000 1.0000];
[R,t,err] = robust_pose(model,iprts)
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