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    // solve for axis
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    // solve for axis
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    std::vector<float> lambda;
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    std::vector<float> lambda;
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    cv::Mat u;
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    cv::Mat u;
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    cv::eigen(M, lambda, u);
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    cv::eigen(M, lambda, u);
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    float minLambda = abs(lambda[0]);
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    float minLambda = std::abs(lambda[0]);
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    int idx = 0;
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    int idx = 0;
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    for(int i=1; i<lambda.size(); i++){
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    for(int i=1; i<lambda.size(); i++){
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        if(abs(lambda[i]) < minLambda){
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        if(abs(lambda[i]) < minLambda){
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            minLambda = lambda[i];
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            minLambda = lambda[i];
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            idx = i;
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            idx = i;