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/external/opencv3/modules/calib3d/src/
Dp3p.cpp268 double C_start[3], C_end[3]; in align() local
270 C_start[0] = (X0 + X1 + X2) / 3; in align()
271 C_start[1] = (Y0 + Y1 + Y2) / 3; in align()
272 C_start[2] = (Z0 + Z1 + Z2) / 3; in align()
277 …[0 * 3 + j] = (X0 * M_end[0][j] + X1 * M_end[1][j] + X2 * M_end[2][j]) / 3 - C_end[j] * C_start[0]; in align()
278 …[1 * 3 + j] = (Y0 * M_end[0][j] + Y1 * M_end[1][j] + Y2 * M_end[2][j]) / 3 - C_end[j] * C_start[1]; in align()
279 …[2 * 3 + j] = (Z0 * M_end[0][j] + Z1 * M_end[1][j] + Z2 * M_end[2][j]) / 3 - C_end[j] * C_start[2]; in align()
328 T[i] = C_end[i] - (R[i][0] * C_start[0] + R[i][1] * C_start[1] + R[i][2] * C_start[2]); in align()