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        diff_mark.copyTo(b.rowRange(i*3, i*3+3));
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        diff_mark.copyTo(b.rowRange(i*3, i*3+3));
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    }
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    }
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    // solve for translation
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    // solve for translation
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    cv::solve(A, b, tau, cv::DECOMP_SVD);
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    cv::solve(A, b, tau, cv::DECOMP_SVD);
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    cv::Mat err_tau = b - (A*cv::Mat(tau));
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    std::cout << err_tau << std::endl;
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}
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}
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// Function to fit two sets of corresponding pose data.
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// Function to fit two sets of corresponding pose data.
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// Finds [Omega | tau], to minimize ||[R_mark | t_mark] - [Omega | tau][R | t]||^2
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// Finds [Omega | tau], to minimize ||[R_mark | t_mark] - [Omega | tau][R | t]||^2
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// Algorithm and notation according to Mili Shah, Comparing two sets of corresponding six degree of freedom data, CVIU 2011.
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// Algorithm and notation according to Mili Shah, Comparing two sets of corresponding six degree of freedom data, CVIU 2011.