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  /external/opencv3/modules/calib3d/src/
epnp.cpp 243 double abt[3 * 3], abt_d[3], abt_u[3 * 3], abt_v[3 * 3]; local
244 CvMat ABt = cvMat(3, 3, CV_64F, abt);
249 cvSetZero(&ABt);
255 abt[3 * j ] += (pc[j] - pc0[j]) * (pw[0] - pw0[0]);
256 abt[3 * j + 1] += (pc[j] - pc0[j]) * (pw[1] - pw0[1]);
257 abt[3 * j + 2] += (pc[j] - pc0[j]) * (pw[2] - pw0[2]);
261 cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A);
upnp.cpp 177 double abt[3 * 3], abt_d[3], abt_u[3 * 3], abt_v[3 * 3]; local
178 Mat ABt = Mat(3, 3, CV_64F, abt);
183 ABt.setTo(0.0);
189 abt[3 * j ] += (pc[j] - pc0[j]) * (pw[0] - pw0[0]);
190 abt[3 * j + 1] += (pc[j] - pc0[j]) * (pw[1] - pw0[1]);
191 abt[3 * j + 2] += (pc[j] - pc0[j]) * (pw[2] - pw0[2]);
195 SVD::compute(ABt, ABt_D, ABt_U, ABt_V, SVD::MODIFY_A);

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