multi-camera-

cv::Matx<double, 4, 4> M(1,  0, 0, -0,
                             0,  1, 0, -0,
                             0,  0, 1, -0,
                             0,  0, 0,  1);

    cv::Matx <double, 6, 1> new_M = MultiColSLAM::hom2cayley(M);
    std::cout << "new_M" << std::endl << new_M;


    cv::Matx<double, 4, 4> M_1(0.996106,    0.0756512, -0.0452821 , -0.0524029,
                               -0.0781092,  0.995414,  -0.0552253,  0.00149068,
                               0.0408966,   0.0585472,  0.997447 , -0.00192105,
                               0,           0,          0,          1       );

    cv::Matx <double, 6, 1> new_M_1 = MultiColSLAM::hom2cayley(M_1);
    std::cout << "new_M_1" << std::endl << new_M_1;