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DRR Library for Out-of-Plane Rotations
 Pitch and Yaw rotations yield in-plan rotations in the 2D X-ray images
 Pitch and Yaw rotations can be approximated by 2D-2D matching
 Roll rotation correspond to an out-of-plane rotation that causes subtle
changes in the X-ray images
1. A set of reference DRR images (17 pairs) is generated corresponding to
various out-of-plane rotations (roll)
2. Image registration compares all of the DRRs with the X-ray image
 Best match gives the roll rotation angle
 Similar as for 6D skull tracking