if __name__ == '__main__':
with open('bundle.out') as fp:
aa = fp.readlines()
Nc = int(aa[1].split(' ')[0])
Lori = zeros((Nc, 3,3))
for n in range(Nc):
for j in range(3):
Lori[n,j] = array([float(x) for x in aa[3+n*5+j].split(' ')])
Lq = zeros((Nc,4))
for n in range(Nc):
ori = Quat(mtq(Lori[n]))
Lq[n] = ori.normalize().q * array([1,-1,1,1])
## Read the tardiff output
## Get orientations ordered by frame number
Lr = loadtxt('tardiff_undistorted_quaternions.dat')
## fix and normalize reference quaternions.
fix_reference_quaternions(Lr)
Le = zeros((Nc,4))
La = zeros(Nc)
