Lines Matching refs:rotation
114 CvMatr32f rotation, CvVect32f translation )
135 if( !rotation )
165 float tmp = objectVectors[i] * rotation[6] /*[2][0]*/ +
166 objectVectors[N + i] * rotation[7] /*[2][1]*/ +
167 objectVectors[2 * N + i] * rotation[8] /*[2][2]*/;
189 rotation[3*i+j] /*[i][j]*/ = 0;
192 rotation[3*i+j] /*[i][j]*/ += invMatrix[j * N + k] * imgVectors[i * N + k];
197 inorm = rotation[0] /*[0][0]*/ * rotation[0] /*[0][0]*/ +
198 rotation[1] /*[0][1]*/ * rotation[1] /*[0][1]*/ +
199 rotation[2] /*[0][2]*/ * rotation[2] /*[0][2]*/;
201 jnorm = rotation[3] /*[1][0]*/ * rotation[3] /*[1][0]*/ +
202 rotation[4] /*[1][1]*/ * rotation[4] /*[1][1]*/ +
203 rotation[5] /*[1][2]*/ * rotation[5] /*[1][2]*/;
211 rotation[0] /*[0][0]*/ *= invInorm;
212 rotation[1] /*[0][1]*/ *= invInorm;
213 rotation[2] /*[0][2]*/ *= invInorm;
215 rotation[3] /*[1][0]*/ *= invJnorm;
216 rotation[4] /*[1][1]*/ *= invJnorm;
217 rotation[5] /*[1][2]*/ *= invJnorm;
220 rotation[6] /*->m[2][0]*/ = rotation[1] /*->m[0][1]*/ * rotation[5] /*->m[1][2]*/ -
221 rotation[2] /*->m[0][2]*/ * rotation[4] /*->m[1][1]*/;
223 rotation[7] /*->m[2][1]*/ = rotation[2] /*->m[0][2]*/ * rotation[3] /*->m[1][0]*/ -
224 rotation[0] /*->m[0][0]*/ * rotation[5] /*->m[1][2]*/;
226 rotation[8] /*->m[2][2]*/ = rotation[0] /*->m[0][0]*/ * rotation[4] /*->m[1][1]*/ -
227 rotation[1] /*->m[0][1]*/ * rotation[3] /*->m[1][0]*/;
354 CvMatr32f rotation, CvVect32f translation )
361 rotation, translation ));
