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/*
This file is part of the CVD Library.
Copyright (C) 2005 The Authors
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include <iostream>
#include <cstdlib>
#include <TooN/se3.h>
using namespace std;
using namespace TooN;
int main(int argc, char** argv)
{
if(argc != 7)
{
cerr << argv[0] << "error: put post multiplication SE3 on command line";
return 1;
}
Vector<6> camera;
for(int i=0; i< 6; i++)
camera[i] = atof(argv[i+1]);
Vector<6> in;
SE3<> s3, c;
c = SE3<>::exp(camera);
for(;;)
{
cin >> in;
if(!cin.good())
return 0;
s3=SE3<>::exp(in) * c;
cout << s3.ln() << endl;
}
}