107   double mtm[12 * 12], d[12], ut[12 * 12], vt[12 * 12];  in compute_pose()  local
110   Mat Ut  = Mat(12, 12, CV_64F, ut);  in compute_pose()
122   compute_L_6x12(ut, l_6x12);  in compute_pose()
130   rep_errors[1] = compute_R_and_t(ut, Betas[1], Rs[1], ts[1]);  in compute_pose()
134   rep_errors[2] = compute_R_and_t(ut, Betas[2], Rs[2], ts[2]);  in compute_pose()
232 double upnp::compute_R_and_t(const double * ut, const double * betas,  in compute_R_and_t()  argument
235   compute_ccs(betas, ut);  in compute_R_and_t()
305 void upnp::compute_ccs(const double * betas, const double * ut)  in compute_ccs()  argument
312       const double * v = ut + 12 * (9 + i);  in compute_ccs()
627 void upnp::compute_L_6x12(const double * ut, double * l_6x12)  in compute_L_6x12()  argument
631   v[0] = ut + 12 * 9;  in compute_L_6x12()
632   v[1] = ut + 12 * 10;  in compute_L_6x12()
633   v[2] = ut + 12 * 11;  in compute_L_6x12()