message: Removed opencv code omitted by mistake in last commit
diff: @@ -88,7 +88,6 @@ inline ScaledOrthoProjectionParameters estimate_orthographic_projection_linear(s
  }
  }
  - Mat A_ = Mat::zeros(2 * num_correspondences, 8, CV_32FC1);
  Matrix<float, Eigen::Dynamic, 8> A = Matrix<float, Eigen::Dynamic, 8>::Zero(2 * num_correspondences, 8);
  int row_index = 0;
  for (int i = 0; i < model_points.size(); ++i)
  @@ -129,7 +128,6 @@ inline ScaledOrthoProjectionParameters estimate_orthographic_projection_linear(s
  Eigen::JacobiSVD<Eigen::Matrix3f, Eigen::NoQRPreconditioner> svd(R, Eigen::ComputeFullU | Eigen::ComputeFullV);
  Eigen::Matrix3f U = svd.matrixU();
  const Eigen::Matrix3f V = svd.matrixV();
  - Mat R_ortho_ = U_ * Vt_;
  Eigen::Matrix3f R_ortho = U * V.transpose();
  // The determinant of R must be 1 for it to be a valid rotation matrix
  