Instructions on 3D printer controller (in C++):

Hardware requirements (with details described in the oritigal paper):
	3D printer gantry system (Aerotech Inc.) , with teh corresponding drivers and C++ libraries (A3200) installed on PC.
	Two tracking cameras (FLIR, Chameleon 3)
	Ink dispensing system (Nordson EFD)

Software requirements:
	Visual Studio Community
	C++ libraries:
		OpenCV
		Eigen
		FlyCapture2
	
1. Camera calibration with a chessboard placed in front of the cameras: Set read_calib_f = 0 in main.cpp (the calibration file will be saved and the variable can be set to 1 in the future)
2. Hand-eye calibration with a chessboard placed in front of the cameras: Set read_handeye_f = 0 and handeye_verify = 0 in main.cpp (the calibration file will be saved and the variables can be set to 1 in the future)
3. Calibration of dispensing nozzle position: Set read_tip_f = 0 in main.cpp (the calibration file will be saved and the variable can be set to 1 in the future)
4. Configure the dual-camera system to be in the trigger mode (in FlyCapture user interface).
5. Run main.cpp

