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  /external/opencv3/modules/stitching/src/
motion_estimators.cpp 69 Mat_<double> K_from = Mat::eye(3, 3, CV_64F);
70 K_from(0,0) = cameras[edge.from].focal;
71 K_from(1,1) = cameras[edge.from].focal * cameras[edge.from].aspect;
72 K_from(0,2) = cameras[edge.from].ppx;
73 K_from(1,2) = cameras[edge.from].ppy;
81 Mat R = K_from.inv() * pairwise_matches[pair_idx].H.inv() * K_to;

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