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        std::cout << "Tr[i]" << Tr[i] << std::endl;
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        std::cout << "Tr[i]" << Tr[i] << std::endl;
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        std::cout << std::endl;
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        std::cout << std::endl;
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    }
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    }
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    // determine the transformation from rotation stage to camera 0
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    // determine the transformation from rotation stage to camera 0
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    cvtools::handEyeCalibrationTsai(Rr, Tr, Rc, Tc, cal.Rr, cal.Tr);
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    cvtools::fitSixDofData(Rc, Tc, Rr, Tr, cal.Rr, cal.Tr);
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    cal.Rr = cal.Rr.t();
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    cal.Tr = -cal.Rr*cal.Tr;
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    for(int i=0; i<Rc.size(); i++){
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    for(int i=0; i<Rc.size(); i++){
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//        cv::Matx33f a = cal.Rr*Rc[i];
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//        cv::Matx33f a = cal.Rr*Rc[i];
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//        cv::Matx33f b = Rr[i];
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//        cv::Matx33f b = Rr[i];