29     f3coeff.resize(21);  in dls()
248     cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);  in build_coeff_matrix()
364 …f3coeff[1] = 2*D[1][2] - 2*D[1][4] + 2*D[2][1] + 2*D[2][5] + 2*D[2][9] - 2*D[4][1] - 2*D[4][5] - 2…  in fill_coeff()
365 …f3coeff[2] = 2*D[1][6] + 2*D[1][8] + 4*D[2][3] + 4*D[2][7] + 4*D[3][2] + 4*D[3][4] + 4*D[4][3] + 4…  in fill_coeff()
366     f3coeff[3] = 8*D[2][2] - 8*D[3][3] - 8*D[4][4] + 8*D[6][6] + 8*D[7][7] - 8*D[8][8]; // s1 * s2  in fill_coeff()
367 …f3coeff[4] = 4*D[1][8] - 4*D[1][6] + 8*D[2][3] + 8*D[2][7] + 8*D[3][2] - 8*D[3][4] - 8*D[4][3] - 8…  in fill_coeff()
368 …f3coeff[5] = 4*D[1][3] - 4*D[1][7] + 8*D[2][6] + 8*D[2][8] + 4*D[3][1] + 4*D[3][5] - 4*D[3][9] - 8…  in fill_coeff()
369 …f3coeff[6] = 4*D[1][1] - 4*D[5][5] + 4*D[5][9] + 8*D[6][6] + 8*D[6][8] + 8*D[8][6] + 8*D[8][8] + 4…  in fill_coeff()
370 …f3coeff[7] = 2*D[5][6] - 2*D[1][8] - 2*D[1][6] + 2*D[5][8] - 2*D[6][1] + 2*D[6][5] - 2*D[6][9] - 2…  in fill_coeff()
371 …f3coeff[8] = 6*D[3][9] - 6*D[1][7] - 6*D[3][1] - 6*D[3][5] - 6*D[1][3] - 6*D[5][3] - 6*D[5][7] - 6…  in fill_coeff()
372 …f3coeff[9] = 2*D[1][3] + 2*D[1][7] + 4*D[2][6] - 4*D[2][8] + 2*D[3][1] + 2*D[3][5] + 2*D[3][9] - 4…  in fill_coeff()
373 …f3coeff[10] = 8*D[2][2] - 4*D[1][5] - 4*D[1][1] - 8*D[2][4] - 8*D[4][2] + 8*D[4][4] - 4*D[5][1] - …  in fill_coeff()
374 …f3coeff[11] = 2*D[1][6] + 2*D[1][8] - 4*D[2][3] + 4*D[2][7] - 4*D[3][2] + 4*D[3][4] + 4*D[4][3] - …  in fill_coeff()
375 …f3coeff[12] = 6*D[6][9] - 6*D[1][8] - 6*D[5][6] - 6*D[5][8] - 6*D[6][1] - 6*D[6][5] - 6*D[1][6] - …  in fill_coeff()
376 …f3coeff[13] = 2*D[1][2] - 2*D[1][4] + 2*D[2][1] - 2*D[2][5] - 2*D[2][9] + 4*D[3][6] - 4*D[3][8] - …  in fill_coeff()
377 …f3coeff[14] = 6*D[1][4] - 6*D[1][2] - 6*D[2][1] - 6*D[2][5] + 6*D[2][9] + 6*D[4][1] + 6*D[4][5] - …  in fill_coeff()
378 …f3coeff[15] = 2*D[1][4] - 2*D[1][2] - 2*D[2][1] + 2*D[2][5] - 2*D[2][9] - 4*D[3][6] - 4*D[3][8] + …  in fill_coeff()
379 …f3coeff[16] = 4*D[1][1] + 4*D[1][5] - 4*D[1][9] + 4*D[5][1] + 4*D[5][5] - 4*D[5][9] - 4*D[9][1] - …  in fill_coeff()
380 …f3coeff[17] = 4*D[2][9] - 4*D[1][4] - 4*D[2][1] - 4*D[2][5] - 4*D[1][2] + 8*D[3][6] + 8*D[3][8] - …  in fill_coeff()
381 …f3coeff[18] = 4*D[2][6] - 2*D[1][7] - 2*D[1][3] + 4*D[2][8] - 2*D[3][1] + 2*D[3][5] - 2*D[3][9] + …  in fill_coeff()
382 …f3coeff[19] = 4*D[1][9] - 4*D[1][1] + 8*D[3][3] + 8*D[3][7] + 4*D[5][5] + 8*D[7][3] + 8*D[7][7] + …  in fill_coeff()
383 …f3coeff[20] = 2*D[1][3] + 2*D[1][7] + 2*D[3][1] - 2*D[3][5] - 2*D[3][9] - 2*D[5][3] - 2*D[5][7] + …  in fill_coeff()
579 …H.at<double>(2,0) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<d…  in Hessian()
580 …H.at<double>(2,1) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<d…  in Hessian()
581 …H.at<double>(2,2) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<d…  in Hessian()