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Deb Mukherjee authored
Use a simpler least-squares function for affine and rotzoom model estimation, instead of computing the pseudo inverse. Also refactors the code into a separate mathutils.h file. The SVD code is currently used only for estimation of the homography models which can be removed when we remove the homography models. Coding efficiency change is in noise range, with the small difference coming from numerical precision issues. Change-Id: I0a9eb79495911cea21a7945b397d596e22a2a186
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