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#include <cvtools.h>
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#include <cvtools.h>
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int main(int argc, char *argv[]){
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int main(int argc, char *argv[]){
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    // TEST rotation axis determination
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    // TEST rotation axis determination
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    float checkerSize = 1.0;
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    float checkerSize = 4.0;
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    std::vector<cv::Point3f> Qobj;
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    std::vector<cv::Point3f> Qobj;
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    for (int h=-4; h<5; h+=1)
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    for (int h=-3; h<=3; h+=2)
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        for (int w=-4; w<5; w+=1)
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        for (int w=-3; w<=3; w+=2)
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            Qobj.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));
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            Qobj.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));
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    std::vector< std::vector<cv::Point3f> > Qcam(20);
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    std::vector< std::vector<cv::Point3f> > Qcam(20);
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    for(int i=0; i<20; i++){
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    for(int i=0; i<20; i++){
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        float angleRadians = (i * 1)/180.0*M_PI;
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        float angleRadians = (i * 5)/180.0*M_PI;
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        cv::Vec3f rvec(0.0, angleRadians, 0.0);
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        cv::Vec3f rvec(0.0, 0.0, angleRadians);
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        cv::Matx33f R;
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        cv::Matx33f R;
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        cv::Rodrigues(rvec, R);
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        cv::Rodrigues(rvec, R);
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        Qcam[i].resize(Qobj.size());
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        Qcam[i].resize(Qobj.size());
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        for(int j=0; j<Qobj.size(); j++)
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        for(int j=0; j<Qobj.size(); j++)
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            Qcam[i][j] = R*Qobj[j] + cv::Point3f(-100,-5,-2);
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            Qcam[i][j] = R*(Qobj[j]-cv::Point3f(-2,-0,-0)) + cv::Point3f(-2,-0,-0);
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    }
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    }
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    cv::Vec3f axis, point;
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    cv::Vec3f axis, point;
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    cvtools::rotationAxisCalibration(Qcam, Qobj, axis, point);
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    cvtools::rotationAxisCalibration(Qcam, Qobj, axis, point);