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788     double eigenvalues[6], eigenvectors[36];
797     CvMat _EIGVECS = cvMat(6,6,CV_64F,eigenvectors), _EIGVALS = cvMat(6,1,CV_64F,eigenvalues);
858             eigenvectors[i*6 + j] *= a;
890     _EIGVECS = cvMat( 6, 1, CV_64F, eigenvectors + 6*i );
958     _EIGVECS = cvMat( 2, 2, CV_64F, eigenvectors );
962     // exteract axis length from eigenvectors
967     box->angle = (float)(180 - atan2(eigenvectors[2], eigenvectors[3])*180/CV_PI);