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        cvtools::matToPoints3f(Qcami, QcamiPoints);
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        cvtools::matToPoints3f(Qcami, QcamiPoints);
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        Qcam.push_back(QcamiPoints);
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        Qcam.push_back(QcamiPoints);
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    }
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    }
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//    cv::Mat QcamMat(Qcam.size(), Qcam[0].size(), CV_32FC3);
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//    for(int i=0; i<Qcam.size(); i++)
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//        for(int j=0; j<Qcam[0].size(); j++)
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//            QcamMat.at<cv::Point3f>(i,j) = Qcam[i][j];
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//    cvtools::writeMat(QcamMat, "Qcam.mat", "Qcam");
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    cv::Vec3f axis, point;
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    cv::Vec3f axis, point;
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    float rot_axis_error;
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    cvtools::rotationAxisCalibration(Qcam, Qi, axis, point);
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    cvtools::rotationAxisCalibration(Qcam, Qi, axis, point, rot_axis_error);
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    // construct transformation matrix
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    // construct transformation matrix
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    cv::Vec3f ex = axis.cross(cv::Vec3f(0,0,1.0));
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    cv::Vec3f ex = axis.cross(cv::Vec3f(0,0,1.0));
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    ex = cv::normalize(ex);
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    ex = cv::normalize(ex);
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    cv::Vec3f ez = ex.cross(axis);
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    cv::Vec3f ez = ex.cross(axis);
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    cv::Mat(axis).copyTo(RrMat.col(1));
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    cv::Mat(axis).copyTo(RrMat.col(1));
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    cv::Mat(ez).copyTo(RrMat.col(2));
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    cv::Mat(ez).copyTo(RrMat.col(2));
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    cal.Rr = cv::Matx33f(RrMat).t();
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    cal.Rr = cv::Matx33f(RrMat).t();
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    cal.Tr = -cv::Matx33f(RrMat).t()*point;
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    cal.Tr = -cv::Matx33f(RrMat).t()*point;
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    cal.rot_axis_error = rot_axis_error;
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    // Print to std::cout
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    // Print to std::cout
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    cal.print();
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    cal.print();
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    // save to (reentrant qsettings object)
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    // save to (reentrant qsettings object)