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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);
407 cvRodrigues2( &r2, &R2, &dR2dr2 );
436 cvMatMul( &W1, &dR2dr2, &W2 );
470 cvMatMul( &dxdR2, &dR2dr2, &W3 );
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