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            // point to line distance
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            // point to line distance
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            dI[k] = cv::norm((point-p)-(point-p).dot(axis)*axis);
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            dI[k] = cv::norm((point-p)-(point-p).dot(axis)*axis);
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        }
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        }
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        float sum = std::accumulate(dI.begin(), dI.end(), 0.0);
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        float sum = std::accumulate(dI.begin(), dI.end(), 0.0);
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        float mean = sum / dI.size();
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        float mean = sum / dI.size();
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        float sumSqDev = 0;
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        float meanDev = 0;
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        for(int k=0; k<l; k++){
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        for(int k=0; k<l; k++){
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            sumSqDev += (dI[k] - mean)*(dI[k] - mean);
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            meanDev += std::abs(dI[k] - mean);
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        }
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        }
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        //meanDev /= l;
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        meanDev /= l;
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        //std::cout << meanDev << std::endl;
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        error += sumSqDev;
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        error += meanDev;
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    }
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    }
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    //error /= mn;
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    error /= mn;
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}
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}
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void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){
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void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){
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    QSettings settings;
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    QSettings settings;