108             CvMat matR = cvMat(3, 3, CV_64F, R);  in cvTsRodrigues()  local
110             cvSetIdentity( &matR, cvRealScalar(alpha) );  in cvTsRodrigues()
111             cvScaleAdd( &_omegav, cvRealScalar(beta), &matR, &matR );  in cvTsRodrigues()
112             cvScaleAdd( &matA, cvRealScalar(gamma), &matR, &matR );  in cvTsRodrigues()
113             cvConvert( &matR, dst );  in cvTsRodrigues()
212         CvMat matR = cvMat( 3, 3, CV_64F, R );  in cvTsRodrigues()  local
220         cvConvert( src, &matR );  in cvTsRodrigues()
221         cvSVD( &matR, &matW, &matU, &matV, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );  in cvTsRodrigues()
222         cvGEMM( &matU, &matV, 1, 0, 0, &matR, CV_GEMM_A_T );  in cvTsRodrigues()
224         cvMulTransposed( &matR, &matA, 0 );  in cvTsRodrigues()
228             fabs( cvDet(&matR) - 1 ) > 1e-3 )  in cvTsRodrigues()
231         tr = (cvTrace(&matR).val[0] - 1.)*0.5;  in cvTsRodrigues()