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            }
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            }
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        }
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        }
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    }
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    }
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}
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}
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// Returns the result of mod(mat(x,y), moduli) for each matrix element
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cv::Mat modulo(const cv::Mat &mat, float n){
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    cv::Mat ret(mat.rows, mat.cols, mat.type());
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    for(int row=0; row<ret.rows; row++){
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        for(int col=0; col<ret.cols; col++){
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            float val = mat.at<float>(row, col);
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            // note: std::fmod calculates the remainder, not arithmetic modulo
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            ret.at<float>(row, col) = val - n * std::floor(val / n);
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        }
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    }
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    return ret;
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}
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// Convert a 3xN matrix to a vector of Point3fs.
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// Convert a 3xN matrix to a vector of Point3fs.
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void matToPoints3f(const cv::Mat &mat, std::vector<cv::Point3f> &points){
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void matToPoints3f(const cv::Mat &mat, std::vector<cv::Point3f> &points){
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    unsigned int nPoints = mat.cols;
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    unsigned int nPoints = mat.cols;
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    points.resize(nPoints);
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    points.resize(nPoints);