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/external/opencv3/modules/cudalegacy/src/
Dcalib3d.cpp273 Point3f p, p_transf; in solvePnPRansac() local
281 p_transf.x = rot[0] * p.x + rot[1] * p.y + rot[2] * p.z + transl[0]; in solvePnPRansac()
282 p_transf.y = rot[3] * p.x + rot[4] * p.y + rot[5] * p.z + transl[1]; in solvePnPRansac()
283 p_transf.z = rot[6] * p.x + rot[7] * p.y + rot[8] * p.z + transl[2]; in solvePnPRansac()
284 p_proj.x = p_transf.x / p_transf.z; in solvePnPRansac()
285 p_proj.y = p_transf.y / p_transf.z; in solvePnPRansac()