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/external/opencv3/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/
DPnPProblem.cpp243 cv::Point3f tmp_pt = R.getP0() + out*R.getP1(); // P = O + t*D in backproject2DPoint() local
244 intersections_list.push_back(tmp_pt); in backproject2DPoint()