<commit_before>#include "device/CalibrationHandler.hpp"

#define _USE_MATH_DEFINES
#include <cmath>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <string>
#include <tuple>
#include <unordered_set>

#include "depthai-shared/common/CameraInfo.hpp"
#include "depthai-shared/common/Extrinsics.hpp"
#include "depthai-shared/common/Point3f.hpp"
#include "nlohmann/json.hpp"
#include "spdlog/spdlog.h"
#include "utility/matrixOps.hpp"

namespace dai {

using namespace matrix;

namespace {
void invertSe3Matrix4x4InPlace(std::vector<std::vector<float>>& mat) {<commit_msg>`#define _USE_MATH_DEFINES` at the top of the file<commit_after>#define _USE_MATH_DEFINES

#include "device/CalibrationHandler.hpp"

#include <cmath>
#include <fstream>
#include <iomanip>
#include <iostream>
#include <string>
#include <tuple>
#include <unordered_set>

#include "depthai-shared/common/CameraInfo.hpp"
#include "depthai-shared/common/Extrinsics.hpp"
#include "depthai-shared/common/Point3f.hpp"
#include "nlohmann/json.hpp"
#include "spdlog/spdlog.h"
#include "utility/matrixOps.hpp"

namespace dai {

using namespace matrix;

namespace {
void invertSe3Matrix4x4InPlace(std::vector<std::vector<float>>& mat) {
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