text: /*                       
  	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 <cvd/se3.h>
  
  using namespace std;
  using namespace CVD;
  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;
  	}
  }
  