function  h3d_debug_write_summary(p, results, results_values, results_stats)

fprintf('Summary:  {num_out_of_field, num_behind_something, num_inconsistent, num_plausible}; \n\n');
for i=1:min([numel(results) 200])

	R = results{i}{1};
	T = results{i}{2};
	val = results_values(i);

	if numel(p.debug_true_T) == 3
		e_r = h3d_rotation_error(R, p.debug_true_R);
		e_t = (T -  p.debug_true_T);
		s = sprintf('error R: %03.1f deg; T: %3.1f cm', e_r, norm(e_t) * 100);
	else
		s= '';
	end
	
	fprintf('%d Val = %1.3f  %04.2f/%04.2f/%04.2f/%04.2f R = %s  T = %s   %s\n', i, val, ...
		results_stats{i}{1},results_stats{i}{2},results_stats{i}{3},results_stats{i}{4},...
		'','',... % display_rot_aa(R), display_v3(T),...
		s);	
end

if numel(p.debug_true_T) == 3
	fprintf(' TRUE: R = %s  T = %s\n', display_rot_aa(p.debug_true_R), display_v3(p.debug_true_T));
end