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  /external/opencv/cv/src/
cvcalibration.cpp 394 CvMat dR1dr1 = cvMat(9,3,CV_64F,_d1), dR2dr2 = cvMat(9,3,CV_64F,_d2);
406 cvRodrigues2( &r1, &R1, &dR1dr1 );
429 cvMatMul( &W1, &dR1dr1, &W2 );
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