annotation_gui_gcp/run_ba.py [195:206]:
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    v0, v1 = [], []
    for p0, p1 in zip(points0, points1):
        if p0 is not None and p1 is not None:
            v0.append(p0)
            v1.append(p1)
    v0 = np.array(v0).T
    v1 = np.array(v1).T
    M = tf.affine_matrix_from_points(v0, v1, shear=False)
    s = np.linalg.det(M[:3, :3]) ** (1.0 / 3.0)
    A = M[:3, :3] / s
    b = M[:3, 3]
    return s, A, b
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opensfm/synthetic_data/synthetic_metrics.py [94:105]:
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    v0, v1 = [], []
    for p0, p1 in zip(points0, points1):
        if p0 is not None and p1 is not None:
            v0.append(p0)
            v1.append(p1)
    v0 = np.array(v0).T
    v1 = np.array(v1).T
    M = tf.affine_matrix_from_points(v0, v1, shear=False)
    s = np.linalg.det(M[:3, :3]) ** (1.0 / 3.0)
    A = M[:3, :3] / s
    b = M[:3, 3]
    return s, A, b
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