316         float  (* JtJ)[8];         /* JtJ matrix */  member
419                                            float     (* JtJ)[8],
826     lm.JtJ      = (float(*)[8])(ptr + lm_JtJ_of);  in allocatePerObj()
892     lm.JtJ      = NULL;  in deallocatePerObj()
2099                           lm.JtJ, lm.Jte,  &S);  in refine()
2124         while(!sacChol8x8Damped(lm.JtJ, L, lm.tmp1)){  in refine()
2159                                   lm.JtJ, lm.Jte,  &S);  in refine()
2183                                            float     (* JtJ)[8],  in sacCalcJacobianErrors()
2190     if(JtJ){memset(JtJ, 0, 8*8*sizeof(float));}  in sacCalcJacobianErrors()
2236         if(JtJ || Jte){  in sacCalcJacobianErrors()
2268             if(JtJ){  in sacCalcJacobianErrors()
2269                 JtJ[0][0] += dxh11*dxh11              ;/*  +0 */  in sacCalcJacobianErrors()
2271                 JtJ[1][0] += dxh11*dxh12              ;/*  +0 */  in sacCalcJacobianErrors()
2272                 JtJ[1][1] += dxh12*dxh12              ;/*  +0 */  in sacCalcJacobianErrors()
2274                 JtJ[2][0] += dxh11*dxh13              ;/*  +0 */  in sacCalcJacobianErrors()
2275                 JtJ[2][1] += dxh12*dxh13              ;/*  +0 */  in sacCalcJacobianErrors()
2276                 JtJ[2][2] += dxh13*dxh13              ;/*  +0 */  in sacCalcJacobianErrors()
2281                 JtJ[3][3] +=               dyh21*dyh21;/* 0+  */  in sacCalcJacobianErrors()
2286                 JtJ[4][3] +=               dyh21*dyh22;/* 0+  */  in sacCalcJacobianErrors()
2287                 JtJ[4][4] +=               dyh22*dyh22;/* 0+  */  in sacCalcJacobianErrors()
2292                 JtJ[5][3] +=               dyh21*dyh23;/* 0+  */  in sacCalcJacobianErrors()
2293                 JtJ[5][4] +=               dyh22*dyh23;/* 0+  */  in sacCalcJacobianErrors()
2294                 JtJ[5][5] +=               dyh23*dyh23;/* 0+  */  in sacCalcJacobianErrors()
2296                 JtJ[6][0] += dxh11*dxh31              ;/*  +0 */  in sacCalcJacobianErrors()
2297                 JtJ[6][1] += dxh12*dxh31              ;/*  +0 */  in sacCalcJacobianErrors()
2298                 JtJ[6][2] += dxh13*dxh31              ;/*  +0 */  in sacCalcJacobianErrors()
2299                 JtJ[6][3] +=               dyh21*dyh31;/* 0+  */  in sacCalcJacobianErrors()
2300                 JtJ[6][4] +=               dyh22*dyh31;/* 0+  */  in sacCalcJacobianErrors()
2301                 JtJ[6][5] +=               dyh23*dyh31;/* 0+  */  in sacCalcJacobianErrors()
2302                 JtJ[6][6] += dxh31*dxh31 + dyh31*dyh31;/*  +  */  in sacCalcJacobianErrors()
2304                 JtJ[7][0] += dxh11*dxh32              ;/*  +0 */  in sacCalcJacobianErrors()
2305                 JtJ[7][1] += dxh12*dxh32              ;/*  +0 */  in sacCalcJacobianErrors()
2306                 JtJ[7][2] += dxh13*dxh32              ;/*  +0 */  in sacCalcJacobianErrors()
2307                 JtJ[7][3] +=               dyh21*dyh32;/* 0+  */  in sacCalcJacobianErrors()
2308                 JtJ[7][4] +=               dyh22*dyh32;/* 0+  */  in sacCalcJacobianErrors()
2309                 JtJ[7][5] +=               dyh23*dyh32;/* 0+  */  in sacCalcJacobianErrors()
2310                 JtJ[7][6] += dxh31*dxh32 + dyh31*dyh32;/*  +  */  in sacCalcJacobianErrors()
2311                 JtJ[7][7] += dxh32*dxh32 + dyh32*dyh32;/*  +  */  in sacCalcJacobianErrors()