WebSVN – seema-scanner – Diff – /openmp/src/SMCalibrationParameters.cpp


#include "SMCalibrationParameters.h"
 
 
void SMCalibrationParameters::print(){
 
    std::cout << "Calibration Parameters:" << std::endl;
    std::cout << "K0: " << std::endl;
    std::cout << K0 << std::endl;
    std::cout << "k0: " << std::endl;
    std::cout << k0 << std::endl;
    std::cout << "K1: " << std::endl;
    std::cout << K1 << std::endl;
    std::cout << "k1: " << std::endl;
    std::cout << k1 << std::endl;
    std::cout << "R1: " << std::endl;
    std::cout << R1 << std::endl;
    std::cout << "T1: " << std::endl;
    std::cout << T1 << std::endl;
    std::cout << "Rr: " << std::endl;
    std::cout << Rr << std::endl;
    std::cout << "Tr: " << std::endl;
    std::cout << Tr << std::endl;
    std::cout << "cam0_error: " << std::endl;
    std::cout << cam0_error << " px" << std::endl;
    std::cout << "cam0_errors_per_view: " << std::endl;
    for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)
        std::cout << "\t" << cam0_errors_per_view[i] << std::endl;
    std::cout << "cam1_error: " << std::endl;
    std::cout << cam1_error << " px" << std::endl;
    std::cout << "cam1_errors_per_view: " << std::endl;
    for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)
        std::cout << "\t" << cam1_errors_per_view[i] << std::endl;
    std::cout << "stereo_error: " << std::endl;
    std::cout << stereo_error << " px" << std::endl;
    std::cout << "rot_axis_error: " << std::endl;
    std::cout << rot_axis_error << " mm" << std::endl;
}
 
void SMCalibrationParameters::exportToXML(QString fileName){
 
    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);
    if (!fs.isOpened())
        std::cerr << "SMCalibrationParameters: could not save file!" << std::endl;
 
    fs << "K0" << cv::Mat(K0) << "k0" << cv::Mat(k0) << "cam0_error" << cam0_error
       << "K1" << cv::Mat(K1) << "k1" << cv::Mat(k1) << "cam1_error" << cam1_error
       << "R1" << cv::Mat(R1) << "T1" << cv::Mat(T1) << "stereo_error" << stereo_error
       << "Rr" << cv::Mat(Rr) << "Tr" << cv::Mat(Tr) << "rot_axis_error" << rot_axis_error
       << "E" << cv::Mat(E) << "F" << cv::Mat(F);
 
    fs.release();
 
}
 
void SMCalibrationParameters::importFromXML(QString fileName){
 
    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::READ);
    if (!fs.isOpened())
        std::cerr << "SMCalibrationParameters: could not open file!" << std::endl;
 
    cv::Mat temp;
    fs["K0"] >> temp; K0 = temp;
    fs["k0"] >> temp; k0 = temp;
    fs["cam0_error"] >> cam0_error;
    fs["K1"] >> temp; K1 = temp;
    fs["k1"] >> temp; k1 = temp;
    fs["cam1_error"] >> cam1_error;
    fs["R1"] >> temp; R1 = temp;
    fs["T1"] >> temp; T1 = temp;
    fs["stereo_error"] >> stereo_error;
    fs["Rr"] >> temp; Rr = temp;
    fs["Tr"] >> temp; Tr = temp;
    fs["rot_axis_error"] >> rot_axis_error;
    fs["E"] >> temp; E = temp;
    fs["F"] >> temp; F = temp;
 
    fs.release();
}
 
// QStreamtypes for qDebug() and QSettings
QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){
//    std::cout << "Deserializing calibration parameters!" << std::endl;
    in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);
    in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);
    in >> data.cam0_error;
 
    in >> data.K1(0,0) >> data.K1(0,1) >> data.K1(0,2) >> data.K1(1,0) >> data.K1(1,1) >> data.K1(1,2) >> data.K1(2,0) >> data.K1(2,1) >> data.K1(2,2);
    in >> data.k1(0) >> data.k1(1) >> data.k1(2) >> data.k1(3) >> data.k1(4);
    in >> data.cam1_error;
 
    in >> data.R1(0,0) >> data.R1(0,1) >> data.R1(0,2) >> data.R1(1,0) >> data.R1(1,1) >> data.R1(1,2) >> data.R1(2,0) >> data.R1(2,1) >> data.R1(2,2);
    in >> data.T1(0) >> data.T1(1) >> data.T1(2);
    in >> data.stereo_error;
 
    in >> data.E(0,0) >> data.E(0,1) >> data.E(0,2) >> data.E(1,0) >> data.E(1,1) >> data.E(1,2) >> data.E(2,0) >> data.E(2,1) >> data.E(2,2);
    in >> data.F(0,0) >> data.F(0,1) >> data.F(0,2) >> data.F(1,0) >> data.F(1,1) >> data.F(1,2) >> data.F(2,0) >> data.F(2,1) >> data.F(2,2);
 
    in >> data.Rr(0,0) >> data.Rr(0,1) >> data.Rr(0,2) >> data.Rr(1,0) >> data.Rr(1,1) >> data.Rr(1,2) >> data.Rr(2,0) >> data.Rr(2,1) >> data.Rr(2,2);
    in >> data.Tr(0) >> data.Tr(1) >> data.Tr(2);
    in >> data.rot_axis_error;
 
    return in;
}
 
QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){
//    std::cout << "Serializing calibration parameters!" << std::endl;
    out << data.K0(0,0) << data.K0(0,1) << data.K0(0,2) << data.K0(1,0) << data.K0(1,1) << data.K0(1,2) << data.K0(2,0) << data.K0(2,1) << data.K0(2,2);
    out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);
    out << data.cam0_error;
 
    out << data.K1(0,0) << data.K1(0,1) << data.K1(0,2) << data.K1(1,0) << data.K1(1,1) << data.K1(1,2) << data.K1(2,0) << data.K1(2,1) << data.K1(2,2);
    out << data.k1(0) << data.k1(1) << data.k1(2) << data.k1(3) << data.k1(4);
    out << data.cam1_error;
 
    out << data.R1(0,0) << data.R1(0,1) << data.R1(0,2) << data.R1(1,0) << data.R1(1,1) << data.R1(1,2) << data.R1(2,0) << data.R1(2,1) << data.R1(2,2);
    out << data.T1(0) << data.T1(1) << data.T1(2);
    out << data.stereo_error;
 
    out << data.E(0,0) << data.E(0,1) << data.E(0,2) << data.E(1,0) << data.E(1,1) << data.E(1,2) << data.E(2,0) << data.E(2,1) << data.E(2,2);
    out << data.F(0,0) << data.F(0,1) << data.F(0,2) << data.F(1,0) << data.F(1,1) << data.F(1,2) << data.F(2,0) << data.F(2,1) << data.F(2,2);
 
    out << data.Rr(0,0) << data.Rr(0,1) << data.Rr(0,2) << data.Rr(1,0) << data.Rr(1,1) << data.Rr(1,2) << data.Rr(2,0) << data.Rr(2,1) << data.Rr(2,2);
    out << data.Tr(0) << data.Tr(1) << data.Tr(2);
    out << data.rot_axis_error;
 
    return out;
 
}
 
 
 
 

Subversion Repositories seema-scanner

(root)/openmp/src/SMCalibrationParameters.cpp @ 205 – Rev 176 → 205

Rev 176		Rev 205
1	`#include "SMCalibrationParameters.h"`	1	`#include "SMCalibrationParameters.h"`
2		2
3		3
4	`void SMCalibrationParameters::print(){`	4	`void SMCalibrationParameters::print(){`
5		5
6	`std::cout << "Calibration Parameters:" << std::endl;`	6	`std::cout << "Calibration Parameters:" << std::endl;`
7	`std::cout << "K0: " << std::endl;`	7	`std::cout << "K0: " << std::endl;`
8	`std::cout << K0 << std::endl;`	8	`std::cout << K0 << std::endl;`
9	`std::cout << "k0: " << std::endl;`	9	`std::cout << "k0: " << std::endl;`
10	`std::cout << k0 << std::endl;`	10	`std::cout << k0 << std::endl;`
11	`std::cout << "K1: " << std::endl;`	11	`std::cout << "K1: " << std::endl;`
12	`std::cout << K1 << std::endl;`	12	`std::cout << K1 << std::endl;`
13	`std::cout << "k1: " << std::endl;`	13	`std::cout << "k1: " << std::endl;`
14	`std::cout << k1 << std::endl;`	14	`std::cout << k1 << std::endl;`
15	`std::cout << "R1: " << std::endl;`	15	`std::cout << "R1: " << std::endl;`
16	`std::cout << R1 << std::endl;`	16	`std::cout << R1 << std::endl;`
17	`std::cout << "T1: " << std::endl;`	17	`std::cout << "T1: " << std::endl;`
18	`std::cout << T1 << std::endl;`	18	`std::cout << T1 << std::endl;`
19	`std::cout << "Rr: " << std::endl;`	19	`std::cout << "Rr: " << std::endl;`
20	`std::cout << Rr << std::endl;`	20	`std::cout << Rr << std::endl;`
21	`std::cout << "Tr: " << std::endl;`	21	`std::cout << "Tr: " << std::endl;`
22	`std::cout << Tr << std::endl;`	22	`std::cout << Tr << std::endl;`
23	`std::cout << "cam0_error: " << std::endl;`	23	`std::cout << "cam0_error: " << std::endl;`
24	`std::cout << cam0_error << " px" << std::endl;`	24	`std::cout << cam0_error << " px" << std::endl;`
25	`std::cout << "cam0_errors_per_view: " << std::endl;`	25	`std::cout << "cam0_errors_per_view: " << std::endl;`
26	`for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)`	26	`for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)`
27	`std::cout << "\t" << cam0_errors_per_view[i] << std::endl;`	27	`std::cout << "\t" << cam0_errors_per_view[i] << std::endl;`
28	`std::cout << "cam1_error: " << std::endl;`	28	`std::cout << "cam1_error: " << std::endl;`
29	`std::cout << cam1_error << " px" << std::endl;`	29	`std::cout << cam1_error << " px" << std::endl;`
30	`std::cout << "cam1_errors_per_view: " << std::endl;`	30	`std::cout << "cam1_errors_per_view: " << std::endl;`
31	`for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)`	31	`for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)`
32	`std::cout << "\t" << cam1_errors_per_view[i] << std::endl;`	32	`std::cout << "\t" << cam1_errors_per_view[i] << std::endl;`
33	`std::cout << "stereo_error: " << std::endl;`	33	`std::cout << "stereo_error: " << std::endl;`
34	`std::cout << stereo_error << " px" << std::endl;`	34	`std::cout << stereo_error << " px" << std::endl;`
35	`std::cout << "rot_axis_error: " << std::endl;`	35	`std::cout << "rot_axis_error: " << std::endl;`
36	`std::cout << rot_axis_error << " mm" << std::endl;`	36	`std::cout << rot_axis_error << " mm" << std::endl;`
37	`}`	37	`}`
38		38
39	`void SMCalibrationParameters::exportToXML(QString fileName){`	39	`void SMCalibrationParameters::exportToXML(QString fileName){`
40		40
41	`cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);`	41	`cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);`
42	`if (!fs.isOpened())`	42	`if (!fs.isOpened())`
43	`std::cerr << "SMCalibrationParameters: could not save file!" << std::endl;`	43	`std::cerr << "SMCalibrationParameters: could not save file!" << std::endl;`
44		44
45	`fs << "K0" << cv::Mat(K0) << "k0" << cv::Mat(k0) << "cam0_error" << cam0_error`	45	`fs << "K0" << cv::Mat(K0) << "k0" << cv::Mat(k0) << "cam0_error" << cam0_error`
46	`<< "K1" << cv::Mat(K1) << "k1" << cv::Mat(k1) << "cam1_error" << cam1_error`	46	`<< "K1" << cv::Mat(K1) << "k1" << cv::Mat(k1) << "cam1_error" << cam1_error`
47	`<< "R1" << cv::Mat(R1) << "T1" << cv::Mat(T1) << "stereo_error" << stereo_error`	47	`<< "R1" << cv::Mat(R1) << "T1" << cv::Mat(T1) << "stereo_error" << stereo_error`
48	`<< "Rr" << cv::Mat(Rr) << "Tr" << cv::Mat(Tr) << "rot_axis_error" << rot_axis_error`	48	`<< "Rr" << cv::Mat(Rr) << "Tr" << cv::Mat(Tr) << "rot_axis_error" << rot_axis_error`
49	`<< "E" << cv::Mat(E) << "F" << cv::Mat(F);`	49	`<< "E" << cv::Mat(E) << "F" << cv::Mat(F);`
50		50
51	`fs.release();`	51	`fs.release();`
52		52
53	`}`	53	`}`
54		54
55	`void SMCalibrationParameters::importFromXML(QString fileName){`	55	`void SMCalibrationParameters::importFromXML(QString fileName){`
56		56
57	`cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::READ);`	57	`cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::READ);`
58	`if (!fs.isOpened())`	58	`if (!fs.isOpened())`
59	`std::cerr << "SMCalibrationParameters: could not open file!" << std::endl;`	59	`std::cerr << "SMCalibrationParameters: could not open file!" << std::endl;`
60		60
61	`cv::Mat temp;`	61	`cv::Mat temp;`
62	`fs["K0"] >> temp; K0 = temp;`	62	`fs["K0"] >> temp; K0 = temp;`
63	`fs["k0"] >> temp; k0 = temp;`	63	`fs["k0"] >> temp; k0 = temp;`
64	`fs["cam0_error"] >> cam0_error;`	64	`fs["cam0_error"] >> cam0_error;`
65	`fs["K1"] >> temp; K1 = temp;`	65	`fs["K1"] >> temp; K1 = temp;`
66	`fs["k1"] >> temp; k1 = temp;`	66	`fs["k1"] >> temp; k1 = temp;`
67	`fs["cam1_error"] >> cam1_error;`	67	`fs["cam1_error"] >> cam1_error;`
68	`fs["R1"] >> temp; R1 = temp;`	68	`fs["R1"] >> temp; R1 = temp;`
69	`fs["T1"] >> temp; T1 = temp;`	69	`fs["T1"] >> temp; T1 = temp;`
70	`fs["stereo_error"] >> stereo_error;`	70	`fs["stereo_error"] >> stereo_error;`
71	`fs["Rr"] >> temp; Rr = temp;`	71	`fs["Rr"] >> temp; Rr = temp;`
72	`fs["Tr"] >> temp; Tr = temp;`	72	`fs["Tr"] >> temp; Tr = temp;`
73	`fs["rot_axis_error"] >> rot_axis_error;`	73	`fs["rot_axis_error"] >> rot_axis_error;`
74	`fs["E"] >> temp; E = temp;`	74	`fs["E"] >> temp; E = temp;`
75	`fs["F"] >> temp; F = temp;`	75	`fs["F"] >> temp; F = temp;`
76		76
77	`fs.release();`	77	`fs.release();`
78	`}`	78	`}`
79		79
80	`// QStreamtypes for qDebug() and QSettings`	80	`// QStreamtypes for qDebug() and QSettings`
81	`QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){`	81	`QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){`
82	`// std::cout << "Deserializing calibration parameters!" << std::endl;`	82	`// std::cout << "Deserializing calibration parameters!" << std::endl;`
83	`in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);`	83	`in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);`
84	`in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);`	84	`in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);`
85	`in >> data.cam0_error;`	85	`in >> data.cam0_error;`
86		86
87	`in >> data.K1(0,0) >> data.K1(0,1) >> data.K1(0,2) >> data.K1(1,0) >> data.K1(1,1) >> data.K1(1,2) >> data.K1(2,0) >> data.K1(2,1) >> data.K1(2,2);`	87	`in >> data.K1(0,0) >> data.K1(0,1) >> data.K1(0,2) >> data.K1(1,0) >> data.K1(1,1) >> data.K1(1,2) >> data.K1(2,0) >> data.K1(2,1) >> data.K1(2,2);`
88	`in >> data.k1(0) >> data.k1(1) >> data.k1(2) >> data.k1(3) >> data.k1(4);`	88	`in >> data.k1(0) >> data.k1(1) >> data.k1(2) >> data.k1(3) >> data.k1(4);`
89	`in >> data.cam1_error;`	89	`in >> data.cam1_error;`
90		90
91	`in >> data.R1(0,0) >> data.R1(0,1) >> data.R1(0,2) >> data.R1(1,0) >> data.R1(1,1) >> data.R1(1,2) >> data.R1(2,0) >> data.R1(2,1) >> data.R1(2,2);`	91	`in >> data.R1(0,0) >> data.R1(0,1) >> data.R1(0,2) >> data.R1(1,0) >> data.R1(1,1) >> data.R1(1,2) >> data.R1(2,0) >> data.R1(2,1) >> data.R1(2,2);`
92	`in >> data.T1(0) >> data.T1(1) >> data.T1(2);`	92	`in >> data.T1(0) >> data.T1(1) >> data.T1(2);`
93	`in >> data.stereo_error;`	93	`in >> data.stereo_error;`
94		94
95	`in >> data.E(0,0) >> data.E(0,1) >> data.E(0,2) >> data.E(1,0) >> data.E(1,1) >> data.E(1,2) >> data.E(2,0) >> data.E(2,1) >> data.E(2,2);`	95	`in >> data.E(0,0) >> data.E(0,1) >> data.E(0,2) >> data.E(1,0) >> data.E(1,1) >> data.E(1,2) >> data.E(2,0) >> data.E(2,1) >> data.E(2,2);`
96	`in >> data.F(0,0) >> data.F(0,1) >> data.F(0,2) >> data.F(1,0) >> data.F(1,1) >> data.F(1,2) >> data.F(2,0) >> data.F(2,1) >> data.F(2,2);`	96	`in >> data.F(0,0) >> data.F(0,1) >> data.F(0,2) >> data.F(1,0) >> data.F(1,1) >> data.F(1,2) >> data.F(2,0) >> data.F(2,1) >> data.F(2,2);`
97		97
98	`in >> data.Rr(0,0) >> data.Rr(0,1) >> data.Rr(0,2) >> data.Rr(1,0) >> data.Rr(1,1) >> data.Rr(1,2) >> data.Rr(2,0) >> data.Rr(2,1) >> data.Rr(2,2);`	98	`in >> data.Rr(0,0) >> data.Rr(0,1) >> data.Rr(0,2) >> data.Rr(1,0) >> data.Rr(1,1) >> data.Rr(1,2) >> data.Rr(2,0) >> data.Rr(2,1) >> data.Rr(2,2);`
99	`in >> data.Tr(0) >> data.Tr(1) >> data.Tr(2);`	99	`in >> data.Tr(0) >> data.Tr(1) >> data.Tr(2);`
100	`in >> data.rot_axis_error;`	100	`in >> data.rot_axis_error;`
101		101
102	`return in;`	102	`return in;`
103	`}`	103	`}`
104		104
105	`QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){`	105	`QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){`
106	`// std::cout << "Serializing calibration parameters!" << std::endl;`	106	`// std::cout << "Serializing calibration parameters!" << std::endl;`
107	`out << data.K0(0,0) << data.K0(0,1) << data.K0(0,2) << data.K0(1,0) << data.K0(1,1) << data.K0(1,2) << data.K0(2,0) << data.K0(2,1) << data.K0(2,2);`	107	`out << data.K0(0,0) << data.K0(0,1) << data.K0(0,2) << data.K0(1,0) << data.K0(1,1) << data.K0(1,2) << data.K0(2,0) << data.K0(2,1) << data.K0(2,2);`
108	`out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);`	108	`out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);`
109	`out << data.cam0_error;`	109	`out << data.cam0_error;`
110		110
111	`out << data.K1(0,0) << data.K1(0,1) << data.K1(0,2) << data.K1(1,0) << data.K1(1,1) << data.K1(1,2) << data.K1(2,0) << data.K1(2,1) << data.K1(2,2);`	111	`out << data.K1(0,0) << data.K1(0,1) << data.K1(0,2) << data.K1(1,0) << data.K1(1,1) << data.K1(1,2) << data.K1(2,0) << data.K1(2,1) << data.K1(2,2);`
112	`out << data.k1(0) << data.k1(1) << data.k1(2) << data.k1(3) << data.k1(4);`	112	`out << data.k1(0) << data.k1(1) << data.k1(2) << data.k1(3) << data.k1(4);`
113	`out << data.cam1_error;`	113	`out << data.cam1_error;`
114		114
115	`out << data.R1(0,0) << data.R1(0,1) << data.R1(0,2) << data.R1(1,0) << data.R1(1,1) << data.R1(1,2) << data.R1(2,0) << data.R1(2,1) << data.R1(2,2);`	115	`out << data.R1(0,0) << data.R1(0,1) << data.R1(0,2) << data.R1(1,0) << data.R1(1,1) << data.R1(1,2) << data.R1(2,0) << data.R1(2,1) << data.R1(2,2);`
116	`out << data.T1(0) << data.T1(1) << data.T1(2);`	116	`out << data.T1(0) << data.T1(1) << data.T1(2);`
117	`out << data.stereo_error;`	117	`out << data.stereo_error;`
118		118
119	`out << data.E(0,0) << data.E(0,1) << data.E(0,2) << data.E(1,0) << data.E(1,1) << data.E(1,2) << data.E(2,0) << data.E(2,1) << data.E(2,2);`	119	`out << data.E(0,0) << data.E(0,1) << data.E(0,2) << data.E(1,0) << data.E(1,1) << data.E(1,2) << data.E(2,0) << data.E(2,1) << data.E(2,2);`
120	`out << data.F(0,0) << data.F(0,1) << data.F(0,2) << data.F(1,0) << data.F(1,1) << data.F(1,2) << data.F(2,0) << data.F(2,1) << data.F(2,2);`	120	`out << data.F(0,0) << data.F(0,1) << data.F(0,2) << data.F(1,0) << data.F(1,1) << data.F(1,2) << data.F(2,0) << data.F(2,1) << data.F(2,2);`
121		121
122	`out << data.Rr(0,0) << data.Rr(0,1) << data.Rr(0,2) << data.Rr(1,0) << data.Rr(1,1) << data.Rr(1,2) << data.Rr(2,0) << data.Rr(2,1) << data.Rr(2,2);`	122	`out << data.Rr(0,0) << data.Rr(0,1) << data.Rr(0,2) << data.Rr(1,0) << data.Rr(1,1) << data.Rr(1,2) << data.Rr(2,0) << data.Rr(2,1) << data.Rr(2,2);`
123	`out << data.Tr(0) << data.Tr(1) << data.Tr(2);`	123	`out << data.Tr(0) << data.Tr(1) << data.Tr(2);`
124	`out << data.rot_axis_error;`	124	`out << data.rot_axis_error;`
125		125
126	`return out;`	126	`return out;`
127		127
128	`}`	128	`}`
129		129
130		130
131		131
132		132