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Rev 90 Rev 91
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                                            0,   0,   0, 0, i*i, i*j,
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                                            0,   0,   0, 0, i*i, i*j,
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                                            0,   0,   0, 0,   0, j*j);
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                                            0,   0,   0, 0,   0, j*j);
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        }
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        }
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    }
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    }
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//std::cout << M << std::endl;
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    //M *= 1.0/(l*mn);
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    cv::completeSymm(M, false);
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    cv::completeSymm(M, false);
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//std::cout << M << std::endl;
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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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            minLambda = lambda[i];
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            minLambda = lambda[i];
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            idx = i;
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            idx = i;
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        }
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        }
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    }
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    }
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std::cout << "u:" <<  u << std::endl;
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    axis = u.row(idx).colRange(0, 3);
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    axis = u.row(idx).colRange(0, 3);
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    axis /= cv::norm(axis);
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    axis = cv::normalize(axis);
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    float nx = u.at<float>(idx, 0);
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    float nx = u.at<float>(idx, 0);
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    float ny = u.at<float>(idx, 1);
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    float ny = u.at<float>(idx, 1);
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    float nz = u.at<float>(idx, 2);
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    float nz = u.at<float>(idx, 2);
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    float d  = u.at<float>(idx, 3);
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    float d  = u.at<float>(idx, 3);