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96     /* This is for function with 3 projection matrices */
97 /* vector X consists of projection matrices and points3D */
99 /* each projection matrices has 3x4 coeffs */
147 /* fill derivate by projection matrix */
169 /* Computers project points using 3 projection matrices and points 3D */
171 /* vector X consists of projection matrices and points3D */
172 /* each projection matrices has 3x4 coeffs */
175 /* result of function is projection of N 3D points using 3 projection matrices */
176 /* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */
177 /* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */
179 /* Compute projection of points */
181 /* Fill projection matrices */
254 /* Compute projection for current point */
365 /* Reconstruct points 4D using projected points and projection matrices */
373 /* result of function is projection of N 3D points using 3 projection matrices */
374 /* projected points store as (projection by matrix P1),(projection by matrix P2),(projection by matrix P3) */
375 /* each projection is x1,y1,x2,y2,x3,y3,x4,y4 */
386 /* Fill with projection matrices */
415 /* Copy projection matrices */