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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(-1,5,0);
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            Qcam[i][j] = R*Qobj[j] + cv::Point3f(-1,-5,-2);
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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);