788     double r[3], R[9], dRdr[27], t[3], a[9], k[5] = {0,0,0,0,0}, fx, fy, cx, cy;  in cvProjectPoints2()  local
790     CvMat _R = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );  in cvProjectPoints2()
1056                     X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],  in cvProjectPoints2()
1057                     X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],  in cvProjectPoints2()
1058                     X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]  in cvProjectPoints2()
1062                     X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],  in cvProjectPoints2()
1063                     X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],  in cvProjectPoints2()
1064                     X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]  in cvProjectPoints2()
1068                     X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],  in cvProjectPoints2()
1069                     X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],  in cvProjectPoints2()
1070                     X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]  in cvProjectPoints2()