orthoestmirrordistratio.m

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    greenCamDirRefBlue = poseBlue(1:3,1:3) *...
        inv( poseGreen(1:3,1:3) ) * [0;0;1];
    
    blueCamDirRefGreen = poseGreen(1:3,1:3) *...
        inv( poseBlue(1:3,1:3) ) * [0;0;1];
    
    
    crossDir = cross( inv( poseBlue(1:3,1:3) ) * [0;0;1], inv( poseGreen(1:3,1:3) ) * [0;0;1] );
    %This is a direction perpendicular to the two viewing directions that
    %will be used to specify the correspondence between the two pairs of
    %tangencies. The tangencies on the same side of the object (as specified
    %by crossDir) correspond
    
    crossDirRefGreen = poseGreen(1:3,1:3) * crossDir;
    crossDirRefBlue = poseBlue(1:3,1:3) * crossDir;
    
    
    [aIndBlue,bIndBlue] = OrthoTangencies( polyBoundaryVecCell{imgLoop}{3}, greenCamDirRefBlue(1:2) );    
    
    if [-greenCamDirRefBlue(2),greenCamDirRefBlue(1)] * crossDirRefBlue(1:2) < 0 
        [aIndBlue,bIndBlue] = swap(aIndBlue,bIndBlue);
    end
    
    [aIndGreen,bIndGreen] = OrthoTangencies(  polyBoundaryVecCell{imgLoop}{2}, blueCamDirRefGreen(1:2) );
    
    if [-blueCamDirRefGreen(2),blueCamDirRefGreen(1)] * crossDirRefGreen(1:2) < 0