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#include <QTime>
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#include <iostream>
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#include <iostream>
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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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    QTime time;
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    float checkerSize = 4.0;
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    time.start();
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    std::vector<cv::Point3f> Qobj;
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//    // TEST rotation axis determination
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    for (int h=-3; h<=3; h+=2)
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//    float checkerSize = 4.0;
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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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//    std::vector<cv::Point3f> Qobj;
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//    for (int h=-3; h<=3; h+=2)
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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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    std::vector< std::vector<cv::Point3f> > Qcam(20);
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    for(int i=0; i<20; i++){
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//    std::vector< std::vector<cv::Point3f> > Qcam(20);
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        float angleRadians = (i * 5)/180.0*M_PI;
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        cv::Vec3f rvec(0.0, 0.0, angleRadians);
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        cv::Matx33f R;
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        cv::Rodrigues(rvec, R);
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//    for(int i=0; i<20; i++){
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//        float angleRadians = (i * 5)/180.0*M_PI;
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//        cv::Vec3f rvec(0.0, 0.0, angleRadians);
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//        cv::Matx33f R;
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        Qcam[i].resize(Qobj.size());
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//        cv::Rodrigues(rvec, R);
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        for(int j=0; j<Qobj.size(); j++)
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//        Qcam[i].resize(Qobj.size());
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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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    cv::Vec3f axis, point;
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//        for(int j=0; j<Qobj.size(); j++)
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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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    cvtools::rotationAxisCalibration(Qcam, Qobj, axis, point);
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//    cv::Vec3f axis, point;
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//    cvtools::rotationAxisCalibration(Qcam, Qobj, axis, point);
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    std::cout << "axis: " << axis << std::endl;
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//    std::cout << "axis: " << axis << std::endl;
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    std::cout << "point: " << point << std::endl;
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//    std::cout << "point: " << point << std::endl;
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    cv::Mat frame = cv::imread("frame.png");
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    std::cout << time.restart() << "ms" << std::endl;
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    cvtools::imwritePNG("frame2.png", frame);
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//    cv::imwrite("frame2.tiff", frame, compression_params);
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    std::cout << time.restart() << "ms" << std::endl;
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    return 0;
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    return 0;
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}
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}