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//    Eigen::Affine3f TransformR;
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//    Eigen::Affine3f TransformR;
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//    cv::cv2eigen(TransformRCV, TransformR.matrix());
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//    cv::cv2eigen(TransformRCV, TransformR.matrix());
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//    visualizer->addCoordinateSystem(100, TransformR);
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//    visualizer->addCoordinateSystem(100, TransformR);
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    // rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame
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    // rotation axis pointing (0,1,0) in rotation stage frame
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    cv::Vec3f O(0.0, -300.0, 0.0);
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    cv::Vec3f O(0.0, -300.0, 0.0);
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    cv::Vec3f v(0.0, 600.0, 0.0);
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    cv::Vec3f v(0.0, 600.0, 0.0);
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    // determine coefficients in camera 0 frame
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    // determine coefficients in camera 0 frame
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    O = calibration.Rr.t()*O + -calibration.Rr.t()*calibration.Tr;
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    O = calibration.Rr.t()*O + -calibration.Rr.t()*calibration.Tr;