private void computeV ( DMatrixRMaj h1 , DMatrixRMaj h2 , DMatrixRMaj v ) { double h1x = h1 . get ( 0 , 0 ) ; double h1y = h1 . get ( 1 , 0 ) ; double h1z = h1 . get ( 2 , 0 ) ; double h2x = h2 . get ( 0 , 0 ) ; double h2y = h2 . get ( 1 , 0 ) ; double h2z = h2 . get ( 2 , 0 ) ; v . set ( 0 , 0 , h1x * h2x ) ; v . set ( 0 , 1 , h1x * h2y + h1y * h2x ) ; v . set ( 0 , 2 , h1y * h2y ) ; v . set ( 0 , 3 , h1z * h2x + h1x * h2z ) ; v . set ( 0 , 4 , h1z * h2y + h1y * h2z ) ; v . set ( 0 , 5 , h1z * h2z ) ; }
This computes the v_ij vector found in the paper .