Don't tilt to max (motor makes funny noises). 
Change function to draw text so that is supports floats.
Add a function to extract a column vector out of a matrix.
document function
Reduce debug output. Computer disparity to meters for display. Only
display for valid quadrilaterals. 
Add a test function that uses the 3D GPS linearization algorithm and
least-squares to estimate a 3D position known satelight position and
distances.
documentation clarification
documentation corrections
integrated the solve3D function. revised debug output so that it can be
fed in to a graphing tool. preliminary results are positive based on at
home experiment with simulated room.