110   Mat Ut  = Mat(12, 12, CV_64F, ut);  in compute_pose()  local
114   SVD::compute(MtM, D, Ut, Vt, SVD::MODIFY_A | SVD::FULL_UV);  in compute_pose()
115   Mat(Ut.t()).copyTo(Ut);  in compute_pose()
128   find_betas_and_focal_approx_1(&Ut, &Rho, Betas[1], Efs[1]);  in compute_pose()
132   find_betas_and_focal_approx_2(&Ut, &Rho, Betas[2], Efs[2]);  in compute_pose()
332 void upnp::find_betas_and_focal_approx_1(Mat * Ut, Mat * Rho, double * betas, double * efs)  in find_betas_and_focal_approx_1()  argument
334   Mat Kmf1 = Mat(12, 1, CV_64F, Ut->ptr<double>(11));  in find_betas_and_focal_approx_1()
352 void upnp::find_betas_and_focal_approx_2(Mat * Ut, Mat * Rho, double * betas, double * efs)  in find_betas_and_focal_approx_2()  argument
356   Ut->copyTo(U);  in find_betas_and_focal_approx_2()
358   Mat Kmf1 = Mat(12, 1, CV_64F, Ut->ptr<double>(10));  in find_betas_and_focal_approx_2()
359   Mat Kmf2 = Mat(12, 1, CV_64F, Ut->ptr<double>(11));  in find_betas_and_focal_approx_2()