diff --git a/modules/calib3d/src/dls.cpp b/modules/calib3d/src/dls.cpp
index 5641d8e086..9075fc2f4c 100644
--- a/modules/calib3d/src/dls.cpp
+++ b/modules/calib3d/src/dls.cpp
@@ -19,6 +19,8 @@
 
 using namespace std;
 
+void pause__(){ cin.get(); }
+
 void printSize(const cv::Mat& mat)
 {
 	cout << mat.rows << "x" << mat.cols << endl;
@@ -48,8 +50,8 @@ void print(T var) { cout << var << endl; }
 dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 {
 	N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
-	p = cv::Mat(3, N, opoints.depth());
-	z = cv::Mat(3, N, ipoints.depth());
+	p = cv::Mat(3, N, CV_64F);
+	z = cv::Mat(3, N, CV_64F);
 
 	cost__ = std::numeric_limits<double>::infinity();
 
@@ -60,14 +62,14 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
 	if (opoints.depth() == ipoints.depth())
 	{
 		if (opoints.depth() == CV_32F)
-			init_points<cv::Point3f,float,cv::Point2f,float>(opoints, ipoints);
+			init_points<cv::Point3f, cv::Point2f>(opoints, ipoints);
 	    else
-	    	init_points<cv::Point3d,double,cv::Point2d,double>(opoints, ipoints);
+	    	init_points<cv::Point3d, cv::Point2d>(opoints, ipoints);
 	}
 	else if (opoints.depth() == CV_32F)
-		init_points<cv::Point3f,float,cv::Point2d,double>(opoints, ipoints);
+		init_points<cv::Point3f, cv::Point2d>(opoints, ipoints);
 	else
-		init_points<cv::Point3d,double,cv::Point2f,float>(opoints, ipoints);
+		init_points<cv::Point3d, cv::Point2f>(opoints, ipoints);
 
 	norm_z_vector();
 
@@ -93,58 +95,218 @@ void dls::norm_z_vector()
 		z.at<double>(1, i) /= sr;
 		z.at<double>(2, i) /= sr;
 	}
+}
 
-	// OK
+bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
+{
+
+	std::vector<cv::Mat> R_;
+	R_.push_back(rotx(CV_PI/2));
+	R_.push_back(roty(CV_PI/2));
+	R_.push_back(rotz(CV_PI/2));
+
+	cv::Mat t_mean = this->mean(p);
+
+	// version that calls dls 3 times, to avoid Cayley singularity
+	for (int i = 0; i < 3; ++i)
+	{
+		// Make a random rotation
+		cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) );
+
+		// clear for new data
+		C_est_.clear();
+		t_est_.clear();
+		cost_.clear();
+
+		this->run_kernel(pp); // run dls_pnp()
+
+		// find global minimum
+		for (unsigned int j = 0; j < cost_.size(); ++j)
+		{
+			if( cost_[j] < cost__ )
+			{
+				t_est__ = t_est_[j] - C_est_[j] * R_[i] * t_mean;
+				C_est__ = C_est_[j] * R_[i];
+				cost__ = cost_[j];
+			}
+		}
+
+	}
+
+	if(C_est__.cols > 0 && C_est__.rows > 0)
+	{
+		C_est__.copyTo(R);
+		t_est__.copyTo(t);
+		return true;
+	}
+
+	return false;
+}
+
+void dls::run_kernel(const cv::Mat& pp)
+{
+
+	cv::Mat Mtilde(27, 27, CV_64F);
+	cv::Mat D = cv::Mat::zeros(9, 9, CV_64F);
+	build_coeff_matrix(pp, Mtilde, D);
+
+	cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
+	compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
+
+
+	/*
+	 *  Now check the solutions
+	 */
+
+	// extract the optimal solutions from the eigen decomposition of the
+	// Multiplication matrix
+
+	cv::Mat sols = cv::Mat::zeros(3, 27, CV_64F);
+	std::vector<double> cost;
+	int count = 0;
+	for (int k = 0; k < 27; ++k)
+	{
+		// TODO: solve implementation for complex numbers
+
+		//  V(:,k) = V(:,k)/V(1,k);
+		cv::Mat V_kA = eigenvec_r.col(k); // 27x1
+		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
+		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
+		cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
+
+		// TODO: check imaginari part to filter solutions
+
+		//if (imag(V(2,k)) == 0)
+		//const double epsilon = 1e-4;
+	    //if( eigenvec_i.at<double>(1,k) >= -epsilon && eigenvec_i.at<double>(1,k) <= epsilon )
+		{ // it should work without checking imaginari part
+
+			double stmp[3];
+			stmp[0] = eigenvec_r.at<double>(9, k);
+			stmp[1] = eigenvec_r.at<double>(3, k);
+			stmp[2] = eigenvec_r.at<double>(1, k);
+
+			cv::Mat H = Hessian(stmp);
+
+			cv::Mat eigenvalues, eigenvectors;
+			cv::eigen(H, eigenvalues, eigenvectors);
+
+			if(positive_eigenvalues(&eigenvalues))
+			{
+
+				// sols(:,i) = stmp;
+				cv::Mat stmp_mat(3, 1, CV_64F, &stmp);
+
+				stmp_mat.copyTo( sols.col(count) );
+
+				cv::Mat Cbar = cayley2rotbar(stmp_mat);
+				cv::Mat Cbarvec = Cbar.reshape(1,1).t();
+
+				// cost(i) = CbarVec' * D * CbarVec;
+				cv::Mat cost_mat =  Cbarvec.t() * D * Cbarvec;
+				cost.push_back( cost_mat.at<double>(0) );
+
+				count++;
+			}
+		}
+	}
+
+	// extract solutions
+	sols = sols.clone().colRange(0, count);
+
+	std::vector<cv::Mat> C_est, t_est;
+	for (int j = 0; j < sols.cols; ++j)
+	{
+		// recover the optimal orientation
+		// C_est(:,:,j) = 1/(1 + sols(:,j)' * sols(:,j)) * cayley2rotbar(sols(:,j));
+
+		cv::Mat sols_j = sols.col(j);
+		double sols_mult = 1./(1.+cv::Mat( sols_j.t() * sols_j ).at<double>(0));
+		cv::Mat C_est_j = cayley2rotbar(sols_j).mul(sols_mult);
+		C_est.push_back( C_est_j );
+
+		cv::Mat A2 = cv::Mat::zeros(3, 3, CV_64F);
+		cv::Mat b2 = cv::Mat::zeros(3, 1, CV_64F);
+		for (int i = 0; i < N; ++i)
+		{
+			cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
+			cv::Mat z_mul = z.col(i)*z.col(i).t();
+
+			A2 += eye - z_mul;
+			b2 += (z_mul - eye) * C_est_j * pp.col(i);
+		}
+
+		// recover the optimal translation
+		cv::Mat X2; cv::solve(A2, b2, X2); // A\B
+		t_est.push_back(X2);
+
+	}
+
+	// check that the points are infront of the center of perspectivity
+	for (int k = 0; k < sols.cols; ++k)
+	{
+		cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols); // OK
+		cv::Mat cam_points_k = cam_points.row(2);
+
+		if(is_empty(&cam_points_k))  // OK
+		{
+			cv::Mat C_valid = C_est[k], t_valid = t_est[k]; // OK
+			double cost_valid = cost[k];// OK
+
+			C_est_.push_back(C_valid);
+			t_est_.push_back(t_valid);
+			cost_.push_back(cost_valid);
+		}
+	}
 }
 
 void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
 {
-	cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
+	cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
 
 	// build coeff matrix
 	// An intermediate matrix, the inverse of what is called "H" in the paper
 	// (see eq. 25)
 
-	cv::Mat H = cv::Mat::zeros(3, 3, z.depth());
-	cv::Mat A = cv::Mat::zeros(3, 9, z.depth());
+	cv::Mat H = cv::Mat::zeros(3, 3, CV_64F);
+	cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
 
 	for (int i = 0; i < N; ++i)
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
 		H += eye - z_dot;
 		A += ( z_dot - eye ) * LeftMultVec(pp.col(i));
-	}// OK
+	}
 
 	// A\B
-	cv::solve(H, A, A);  // OK
+	cv::solve(H, A, A);
 
 	for (int i = 0; i < N; ++i)
 	{
 		cv::Mat z_dot = z.col(i)*z.col(i).t();
 		D += cv::Mat( LeftMultVec(pp.col(i)) + A ).t() * (eye-z_dot) * ( LeftMultVec(pp.col(i)) + A );
-	} // OK
+	}
 
 	// fill the coefficients
 	fill_coeff(&D);
 
 	// generate random samples
-	std::vector<double> u;
-	//cv::randn(u, 100, 0.1);
-	u.push_back(0.0); u.push_back(129.0); u.push_back(64.0); u.push_back(-33.0); u.push_back(-193.0);
+	std::vector<double> u(5);
+	cv::randn(u, 0, 200);
 
 	cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
 
-	cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27)); // OK
-	cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120)); // OK
-	cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120)); // OK
-	cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27)); // OK
+	cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27));
+	cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120));
+	cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120));
+	cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27));
 
 	// A/B = B'\A'
 	cv::Mat M2_5; cv::solve(M2_3.t(), M2_2.t(), M2_5);
 
 	// construct the multiplication matrix via schur compliment of the Macaulay
 	// matrix
-	Mtilde = M2_1 - M2_5.t()*M2_4; // 27x27 non-symmetric // OK
+	Mtilde = M2_1 - M2_5.t()*M2_4;
 
 }
 
@@ -164,13 +326,13 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
 	Eigen::ComplexEigenSolver<Eigen::MatrixXcd> ces;
 	ces.compute(Mtilde_eig_cmplx);
 
-	Eigen::MatrixXd eigval_real = ces.eigenvalues().real(); // OK
-	Eigen::MatrixXd eigval_imag = ces.eigenvalues().imag();// OK
+	Eigen::MatrixXd eigval_real = ces.eigenvalues().real();
+	Eigen::MatrixXd eigval_imag = ces.eigenvalues().imag();
 	Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
 	Eigen::MatrixXd eigvec_imag = ces.eigenvectors().imag();
 
-	cv::eigen2cv(eigval_real, eigenval_real);	// OK
-	cv::eigen2cv(eigval_imag, eigenval_imag);	// OK
+	cv::eigen2cv(eigval_real, eigenval_real);
+	cv::eigen2cv(eigval_imag, eigenval_imag);
 	cv::eigen2cv(eigvec_real, eigenvec_real);
 	cv::eigen2cv(eigvec_imag, eigenvec_imag);
 
@@ -178,6 +340,7 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
 
 void dls::fill_coeff(const cv::Mat * D_mat)
 {
+	// TODO: shift D and coefficients one position to left
 
 	double D[10][10]; // put D_mat into array
 
@@ -263,177 +426,16 @@ void dls::fill_coeff(const cv::Mat * D_mat)
 
 }
 
-void dls::run_kernel(const cv::Mat& pp)
-{
-
-	cv::Mat Mtilde(27, 27, z.depth());
-	cv::Mat D = cv::Mat::zeros(9, 9, z.depth());
-	build_coeff_matrix(pp, Mtilde, D);
-
-	cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
-	compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
-
-	//printMat(eigenval_r);
-	//printMat(eigenval_i);
-
-	/*
-	 *  Now check the solutions
-	 */
-
-	// extract the optimal solutions from the eigen decomposition of the
-	// Multiplication matrix
-
-	cv::Mat sols = cv::Mat::zeros(3, 27, z.depth());
-	std::vector<double> cost;
-	int count = 0;
-	for (int k = 0; k < 27; ++k)
-	{
-
-		//  V(:,k) = V(:,k)/V(1,k);
-		cv::Mat V_kA = eigenvec_r.col(k); // 27x1
-		cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
-		cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
-		cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
-
-		//if (imag(V(2,k)) == 0)
-		const double epsilon = 1e-4;
-	//	if( eigenvec_i.at<double>(1,k) >= -epsilon && eigenvec_i.at<double>(1,k) <= epsilon )
-		{ // it should work without checking imaginari part
-
-			double stmp[3];
-			stmp[0] = eigenvec_r.at<double>(9, k);
-			stmp[1] = eigenvec_r.at<double>(3, k);
-			stmp[2] = eigenvec_r.at<double>(1, k);
-
-			cv::Mat H = Hessian(stmp); // OK is symmetric
-
-			cv::Mat eigenvalues, eigenvectors;
-			cv::eigen(H, eigenvalues, eigenvectors);
-
-			if(positive_eigenvalues(eigenvalues))
-			{
-
-				// sols(:,i) = stmp;
-				cv::Mat(3, 1, z.depth(), &stmp).copyTo( sols.col(count) );
-
-				cv::Mat Cbar = cayley2rotbar(stmp);
-	      		cv::Mat Cbarvec = Cbar.t();
-				Cbarvec = Cbarvec.reshape(1,1).t();
-
-				// cost(i) = CbarVec' * D * CbarVec;
-				cv::Mat cost_mat =  Cbarvec.t() * D * Cbarvec;
-				cost.push_back( cost_mat.at<double>(0) );
-
-				count++;
-			}
-		}
-	}
-
-	sols = sols.clone().colRange(0, count);
-
-//	printMat(sols);
-//	printMat(cv::Mat(cost_));
-
-	// until here seems OK. must check with eigenvectors from octave
-
-	std::vector<cv::Mat> C_est, t_est;
-	for (int j = 0; j < sols.cols; ++j)
-	{
-		// recover the optimal orientation
-		// C_est(:,:,j) = 1/(1 + sols(:,j)' * sols(:,j)) * cayley2rotbar(sols(:,j));
-
-		cv::Mat sols_j = sols.col(j);
-		double sols_j_[3] = { sols_j.at<double>(0), sols_j.at<double>(1), sols_j.at<double>(2) };
-		double sols_mul = cv::Mat( sols_j.t() * sols_j ).at<double>(0);
-		cv::Mat C_est_j = cayley2rotbar(sols_j_).mul(1./(1.+sols_mul));
-		C_est.push_back( C_est_j );
-
-		cv::Mat A2 = cv::Mat::zeros(3, 3, z.depth());
-		cv::Mat b2 = cv::Mat::zeros(3, 1, z.depth());
-		for (int i = 0; i < N; ++i)
-		{
-			cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
-			cv::Mat z_mul = z.col(i)*z.col(i).t();
-
-			A2 += eye - z_mul;
-			b2 += (z_mul - eye) * C_est_j * pp.col(i);
-		}
-
-		// recover the optimal translation
-		cv::Mat X2; cv::solve(A2, b2, X2); // A\B
-		t_est.push_back(X2);
-	}
-
-
-
-	// check that the points are infront of the center of perspectivity
-	for (int k = 0; k < sols.cols; ++k)
-	{
-		cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols);
-		cv::Mat cam_points_k = cam_points.row(2);
-
-		if(is_empty(&cam_points_k))
-		{
-			cv::Mat C_valid = C_est[k], t_valid = t_est[k];
-			double cost_valid = cost[k];
-
-			C_est_.push_back(C_valid);
-			t_est_.push_back(t_valid);
-			cost_.push_back(cost_valid);
-		}
-	}
-}
-
-
-void dls::compute_pose(cv::Mat& R, cv::Mat& t)
-{
-
-	std::vector<cv::Mat> R_;
-	R_.push_back(rotx(CV_PI/2));
-	R_.push_back(roty(CV_PI/2));
-	R_.push_back(rotz(CV_PI/2)); // OK
-
-	cv::Mat t_mean = this->mean(p); // OK
-
-	// version that calls dls 3 times, to avoid Cayley singularity
-	for (int i = 0; i < 3; ++i)
-	{
-		// Make a random rotation
-		cv::Mat pp = R_[i] * ( p - cv::repeat(t_mean, 1, p.cols) ); // OK
-
-		// clear for the new data
-		C_est_.clear();
-		t_est_.clear();
-		cost_.clear();
-
-		this->run_kernel(pp); // run dls_pnp()
-
-		for (unsigned int j = 0; j < cost_.size(); ++j)
-		{
-			t_est_[j] = t_est_[j] - C_est_[j] * R_[i] * t_mean;
-			C_est_[j] = C_est_[j] * R_[i];
-		}
-
-		if( min_val(cost_) < cost__ )
-		{
-			C_est__ = C_est_[i];
-			t_est__ = t_est_[i];
-			cost__ = cost_[i];
-		}
-	}
-
-	C_est__.copyTo(R);
-	t_est__.copyTo(t);
-}
-
 cv::Mat dls::LeftMultVec(const cv::Mat& v)
 {
 	cv::Mat mat, row1, row2, row3;
+	cv::Mat zeros16 = cv::Mat::zeros(1, 6, CV_64F);
+	cv::Mat zeros13 = cv::Mat::zeros(1, 3, CV_64F);
 
-	cv::hconcat(v.clone().t(), cv::Mat::zeros(1, 6, v.depth()), row1);	// first row
-	cv::hconcat(cv::Mat::zeros(1, 3, v.depth()), v.clone().t(), row2);	// second row
-	cv::hconcat(row2, cv::Mat::zeros(1, 3, v.depth()), row2);			// second ror
-	cv::hconcat(cv::Mat::zeros(1, 6, v.depth()), v.clone().t(), row3);	// third row
+	cv::hconcat(v.clone().t(), zeros16, row1);	// first row
+	cv::hconcat(zeros13, v.clone().t(), row2);	// second row
+	cv::hconcat(row2, zeros13, row2);			// second row
+	cv::hconcat(zeros16, v.clone().t(), row3);	// third row
 
 	mat.push_back(row1);
 	mat.push_back(row2);
@@ -444,9 +446,9 @@ cv::Mat dls::LeftMultVec(const cv::Mat& v)
 
 cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u)
 {
+	// TODO: input matrix pointer
+	// TODO: shift coefficients one position to left
 	
-    //cv::Mat M = (cv::Mat_<double>(120,120) << u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[10], 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], a[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, b[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[14], 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[14], 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, b[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[11], c[1], 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], a[5], 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, 0, a[10], 0, 0, 0, 0, b[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, b[10], 0, 0, 0, 0, 0, 0, b[5], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[11], c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[5], c[10], 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[5], a[12], 0, 0, 0, 0, 0, a[1], 0, a[10], 0, 0, 0, 0, 0, a[14], 0, a[11], 0, 0, b[5], 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, b[11], 0, 0, 0, 0, 0, b[10], 0, 0, 0, 0, b[14], 0, 0, 0, 0, 0, 0, b[12], 0, 0, 0, 0, 0, c[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[5], c[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, c[12], c[14], 0, 0, 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, a[15], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], b[11], 0, 0, 0, 0, 0, 0, b[15], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[15], c[11], 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, 0, 0, a[15], a[6], 0, 0, 0, 0, 0, 0, 0, a[11], 0, a[1], 0, 0, 0, a[5], 0, 0, 0, 0, b[15], 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, b[11], 0, 0, 0, b[10], b[5], 0, 0, 0, 0, 0, 0, b[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[15], c[11], 0, 0, 0, 0, 0, 0, c[10], 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, c[6], c[5], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[14], 0, 0, 0, a[6], 0, 0, 0, 0, 0, 0, a[11], 0, a[5], 0, a[10], a[1], 0, 0, a[12], 0, a[15], 0, 0, b[6], 0, 0, 0, 0, 0, 0, 0, b[11], b[10], 0, b[15], b[1], 0, 0, 0, 0, b[5], 0, 0, 0, b[14], b[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[15], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[6], c[5], 0, c[1], 0, 0, 0, 0, c[14], 0, 0, 0, c[11], c[10], 0, 0, 0, 0, 0, 0, c[12], u[2], 0, 0, 0, 0, 0, 0, 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[1], 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], a[4], a[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], 0, 0, 0, 0, b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[4], b[10], 0, 0, 0, c[10], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[4], 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, 0, 0, a[10], a[4], a[8], a[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], 0, 0, b[4], 0, 0, b[1], 0, b[10], 0, 0, 0, 0, 0, b[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[8], b[14], 0, 0, 0, c[14], c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, c[10], c[8], 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[3], a[11], 0, 0, a[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], 0, 0, b[1], 0, 0, 0, b[3], b[11], 0, 0, 0, c[11], 0, 0, 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[3], c[9], 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], a[3], a[17], a[5], 0, 0, a[10], 0, 0, 0, a[9], 0, 0, 0, a[1], 0, a[4], 0, 0, 0, 0, b[3], 0, 0, 0, 0, b[11], b[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], 0, 0, 0, 0, b[4], 0, 0, b[10], 0, 0, 0, b[17], b[5], 0, 0, 0, c[5], 0, c[1], 0, 0, 0, 0, 0, c[10], 0, 0, c[3], c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[11], c[17], c[4], 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, 0, 0, 0, a[5], a[17], 0, a[12], 0, 0, a[14], 0, a[9], a[1], a[4], 0, 0, 0, a[10], 0, a[8], 0, a[3], 0, 0, b[17], 0, b[1], b[11], 0, b[5], b[10], 0, b[9], 0, 0, b[3], 0, 0, 0, 0, 0, b[4], 0, 0, 0, 0, b[8], 0, 0, b[14], 0, 0, 0, 0, b[12], 0, 0, 0, c[12], c[3], c[10], 0, 0, 0, 0, 0, c[14], 0, 0, c[17], c[4], 0, 0, 0, 0, 0, c[1], 0, 0, 0, 0, c[9], 0, 0, c[11], 0, 0, c[5], 0, c[8], 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, 0, u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], 0, 0, 0, 0, a[18], a[15], 0, 0, a[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[3], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], b[9], b[3], 0, 0, b[11], 0, 0, 0, b[18], b[15], 0, 0, 0, c[15], 0, 0, 0, 0, 0, c[1], 0, c[11], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[18], c[3], 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, u[3], 0, u[4], u[1], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], a[4], 0, 0, a[15], a[18], 0, a[6], 0, 0, a[5], 0, 0, 0, a[3], a[1], a[9], 0, a[11], 0, a[17], 0, 0, 0, 0, b[18], 0, 0, 0, 0, b[15], b[11], 0, 0, b[9], 0, 0, 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0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[10], 0, 0, 0, c[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, a[11], 0, a[3], 0, 0, a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[13], b[20], b[3], b[11], b[2], 0, 0, c[11], c[3], c[2], 0, 0, 0, 0, c[13], 0, 0, 0, c[20], 0, c[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[3], 0, a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[13], b[20], 0, b[2], b[3], 0, 0, 0, c[3], c[2], 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[20], 0, 0, 0, b[2], 0, 0, 0, c[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, 0, 0, 0, a[14], a[8], 0, a[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[4], 0, 0, b[8], 0, 0, b[10], 0, b[14], 0, 0, 0, 0, 0, b[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, c[16], c[4], 0, 0, 0, 0, 0, 0, 0, 0, 0, c[8], 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], 0, 0, 0, 0, c[10], 0, 0, c[14], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[4], 0, 0, 0, 0, 0, 0, a[10], a[4], 0, 0, 0, a[14], a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[19], 0, a[16], 0, b[10], 0, b[4], 0, b[8], 0, b[14], 0, 0, 0, b[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, 0, c[16], 0, c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], c[13], 0, 0, 0, c[10], c[4], 0, c[14], c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[4], a[19], 0, 0, a[14], a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[16], 0, 0, 0, 0, b[4], 0, b[19], b[14], 0, 0, b[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, 0, 0, c[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], c[20], 0, 0, 0, c[4], c[19], c[14], c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[19], 0, 0, 0, a[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[16], 0, 0, 0, 0, 0, 0, b[19], 0, 0, b[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[16], 0, 0, 0, c[16], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, c[19], 0, c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, a[9], 0, 0, a[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[1], b[13], 0, b[20], c[1], c[9], c[13], c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[3], a[7], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[6], 0, a[18], 0, a[17], 0, a[2], 0, 0, 0, 0, 0, a[12], 0, 0, b[7], b[18], 0, 0, 0, 0, 0, 0, 0, 0, 0, b[2], b[19], b[17], 0, b[8], 0, b[6], b[12], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[8], 0, c[12], 0, c[6], 0, c[17], 0, 0, 0, 0, c[2], 0, c[19], 0, c[18], 0, 0, 0, 0, 0, 0, c[7], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[3], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[5], 0, 0, 0, a[7], 0, 0, 0, 0, 0, 0, 0, 0, a[15], 0, a[11], 0, 0, 0, a[6], 0, 0, 0, 0, b[7], 0, 0, 0, 0, 0, 0, 0, 0, b[11], 0, 0, 0, b[1], 0, b[10], 0, b[15], 0, 0, 0, b[5], b[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[7], c[15], 0, 0, 0, c[1], 0, 0, c[5], 0, 0, c[10], 0, c[11], 0, 0, 0, 0, 0, 0, c[6], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], a[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], 0, 0, a[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[1], 0, b[9], b[20], b[13], 0, c[1], c[9], c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[1], a[9], a[13], a[20], 0, a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, 0, a[4], b[20], 0, 0, 0, b[1], b[13], 0, b[9], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[10], 0, b[4], 0, b[19], 0, c[10], c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[1], c[9], c[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[9], a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[10], 0, a[4], 0, 0, a[19], 0, 0, 0, 0, b[9], b[20], 0, b[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[4], b[10], b[19], 0, 0, c[10], c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[9], c[13], c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[4], 0, a[19], 0, 0, 0, 0, 0, 0, 0, b[13], 0, 0, b[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[19], b[4], 0, 0, 0, c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, b[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[19], 0, 0, 0, c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, u[2], 0, 0, 0, 0, a[13], a[20], 0, 0, 0, 0, 0, 0, a[11], a[3], a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[15], 0, a[9], a[18], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[9], b[13], b[20], 0, b[11], b[3], b[2], b[15], 0, b[18], 0, 0, 0, c[15], c[18], 0, 0, 0, 0, c[3], c[9], c[13], 0, c[2], 0, c[11], 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, 0, 0, 0, 0, a[3], a[2], 0, 0, 0, 0, 0, 0, 0, 0, 0, a[15], 0, a[18], 0, a[13], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[13], b[20], 0, 0, b[3], b[2], 0, b[18], b[15], 0, 0, 0, c[15], c[18], 0, 0, 0, 0, 0, c[2], c[13], c[20], 0, 0, 0, c[3], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[13], a[20], 0, 0, a[4], a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[14], 0, a[8], 0, 0, 0, 0, b[13], 0, b[20], b[4], 0, 0, b[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[8], b[14], 0, 0, 0, c[14], c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[13], c[20], c[4], c[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[20], 0, 0, 0, a[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a[8], 0, 0, 0, 0, 0, 0, b[20], 0, 0, b[19], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b[8], 0, 0, 0, c[8], 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, c[20], 0, c[19], 0, 0, 0, 0);
-
 	cv::Mat M = cv::Mat::zeros(120, 120, CV_64F);
 
 	M.at<double>(0,0)=u[1]; M.at<double>(0,35)=a[1]; M.at<double>(0,83)=b[1]; M.at<double>(0,118)=c[1];
@@ -570,133 +572,11 @@ cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>
 	M.at<double>(118,27)=a[13]; M.at<double>(118,28)=a[20]; M.at<double>(118,31)=a[4]; M.at<double>(118,32)=a[19]; M.at<double>(118,48)=a[14]; M.at<double>(118,50)=a[8]; M.at<double>(118,55)=b[13]; M.at<double>(118,57)=b[20]; M.at<double>(118,58)=b[4]; M.at<double>(118,61)=b[19]; M.at<double>(118,80)=b[8]; M.at<double>(118,81)=b[14]; M.at<double>(118,85)=c[14]; M.at<double>(118,86)=c[8]; M.at<double>(118,113)=c[13]; M.at<double>(118,114)=c[20]; M.at<double>(118,115)=c[4]; M.at<double>(118,116)=c[19];
 	M.at<double>(119,27)=a[20]; M.at<double>(119,31)=a[19]; M.at<double>(119,48)=a[8]; M.at<double>(119,55)=b[20]; M.at<double>(119,58)=b[19]; M.at<double>(119,81)=b[8]; M.at<double>(119,85)=c[8]; M.at<double>(119,113)=c[20]; M.at<double>(119,115)=c[19];
 
-	/*M[0][0]=u[1]; M[0][35]=a[1]; M[0][83]=b[1]; M[0][118]=c[1];
-	M[1][0]=u[4]; M[1][1]=u[1]; M[1][34]=a[1]; M[1][35]=a[10]; M[1][54]=b[1]; M[1][83]=b[10]; M[1][99]=c[1]; M[1][118]=c[10];
-	M[2][1]=u[4]; M[2][2]=u[1]; M[2][34]=a[10]; M[2][35]=a[14]; M[2][51]=a[1]; M[2][54]=b[10]; M[2][65]=b[1]; M[2][83]=b[14]; M[2][89]=c[1]; M[2][99]=c[10]; M[2][118]=c[14];
-	M[3][0]=u[3]; M[3][3]=u[1]; M[3][35]=a[11]; M[3][49]=a[1]; M[3][76]=b[1]; M[3][83]=b[11]; M[3][118]=c[11]; M[3][119]=c[1];
-	M[4][1]=u[3]; M[4][3]=u[4]; M[4][4]=u[1]; M[4][34]=a[11]; M[4][35]=a[5]; M[4][43]=a[1]; M[4][49]=a[10]; M[4][54]=b[11]; M[4][71]=b[1]; M[4][76]=b[10]; M[4][83]=b[5]; M[4][99]=c[11]; M[4][100]=c[1]; M[4][118]=c[5]; M[4][119]=c[10];
-	M[5][2]=u[3]; M[5][4]=u[4]; M[5][5]=u[1]; M[5][34]=a[5]; M[5][35]=a[12]; M[5][41]=a[1]; M[5][43]=a[10]; M[5][49]=a[14]; M[5][51]=a[11]; M[5][54]=b[5]; M[5][62]=b[1]; M[5][65]=b[11]; M[5][71]=b[10]; M[5][76]=b[14]; M[5][83]=b[12]; M[5][89]=c[11]; M[5][99]=c[5]; M[5][100]=c[10]; M[5][111]=c[1]; M[5][118]=c[12]; M[5][119]=c[14];
-	M[6][3]=u[3]; M[6][6]=u[1]; M[6][30]=a[1]; M[6][35]=a[15]; M[6][49]=a[11]; M[6][75]=b[1]; M[6][76]=b[11]; M[6][83]=b[15]; M[6][107]=c[1]; M[6][118]=c[15]; M[6][119]=c[11];
-	M[7][4]=u[3]; M[7][6]=u[4]; M[7][7]=u[1]; M[7][30]=a[10]; M[7][34]=a[15]; M[7][35]=a[6]; M[7][43]=a[11]; M[7][45]=a[1]; M[7][49]=a[5]; M[7][54]=b[15]; M[7][63]=b[1]; M[7][71]=b[11]; M[7][75]=b[10]; M[7][76]=b[5]; M[7][83]=b[6]; M[7][99]=c[15]; M[7][100]=c[11]; M[7][107]=c[10]; M[7][112]=c[1]; M[7][118]=c[6]; M[7][119]=c[5];
-	M[8][5]=u[3]; M[8][7]=u[4]; M[8][8]=u[1]; M[8][30]=a[14]; M[8][34]=a[6]; M[8][41]=a[11]; M[8][43]=a[5]; M[8][45]=a[10]; M[8][46]=a[1]; M[8][49]=a[12]; M[8][51]=a[15]; M[8][54]=b[6]; M[8][62]=b[11]; M[8][63]=b[10]; M[8][65]=b[15]; M[8][66]=b[1]; M[8][71]=b[5]; M[8][75]=b[14]; M[8][76]=b[12]; M[8][89]=c[15]; M[8][99]=c[6]; M[8][100]=c[5]; M[8][102]=c[1]; M[8][107]=c[14]; M[8][111]=c[11]; M[8][112]=c[10]; M[8][119]=c[12];
-	M[9][0]=u[2]; M[9][9]=u[1]; M[9][35]=a[9]; M[9][36]=a[1]; M[9][83]=b[9]; M[9][84]=b[1]; M[9][88]=c[1]; M[9][118]=c[9];
-	M[10][1]=u[2]; M[10][9]=u[4]; M[10][10]=u[1]; M[10][33]=a[1]; M[10][34]=a[9]; M[10][35]=a[4]; M[10][36]=a[10]; M[10][54]=b[9]; M[10][59]=b[1]; M[10][83]=b[4]; M[10][84]=b[10]; M[10][88]=c[10]; M[10][99]=c[9]; M[10][117]=c[1]; M[10][118]=c[4];
-	M[11][2]=u[2]; M[11][10]=u[4]; M[11][11]=u[1]; M[11][28]=a[1]; M[11][33]=a[10]; M[11][34]=a[4]; M[11][35]=a[8]; M[11][36]=a[14]; M[11][51]=a[9]; M[11][54]=b[4]; M[11][57]=b[1]; M[11][59]=b[10]; M[11][65]=b[9]; M[11][83]=b[8]; M[11][84]=b[14]; M[11][88]=c[14]; M[11][89]=c[9]; M[11][99]=c[4]; M[11][114]=c[1]; M[11][117]=c[10]; M[11][118]=c[8];
-	M[12][3]=u[2]; M[12][9]=u[3]; M[12][12]=u[1]; M[12][35]=a[3]; M[12][36]=a[11]; M[12][39]=a[1]; M[12][49]=a[9]; M[12][76]=b[9]; M[12][79]=b[1]; M[12][83]=b[3]; M[12][84]=b[11]; M[12][88]=c[11]; M[12][96]=c[1]; M[12][118]=c[3]; M[12][119]=c[9];
-	M[13][4]=u[2]; M[13][10]=u[3]; M[13][12]=u[4]; M[13][13]=u[1]; M[13][33]=a[11]; M[13][34]=a[3]; M[13][35]=a[17]; M[13][36]=a[5]; M[13][39]=a[10]; M[13][43]=a[9]; M[13][47]=a[1]; M[13][49]=a[4]; M[13][54]=b[3]; M[13][59]=b[11]; M[13][60]=b[1]; M[13][71]=b[9]; M[13][76]=b[4]; M[13][79]=b[10]; M[13][83]=b[17]; M[13][84]=b[5]; M[13][88]=c[5]; M[13][90]=c[1]; M[13][96]=c[10]; M[13][99]=c[3]; M[13][100]=c[9]; M[13][117]=c[11]; M[13][118]=c[17]; M[13][119]=c[4];
-	M[14][5]=u[2]; M[14][11]=u[3]; M[14][13]=u[4]; M[14][14]=u[1]; M[14][28]=a[11]; M[14][33]=a[5]; M[14][34]=a[17]; M[14][36]=a[12]; M[14][39]=a[14]; M[14][41]=a[9]; M[14][42]=a[1]; M[14][43]=a[4]; M[14][47]=a[10]; M[14][49]=a[8]; M[14][51]=a[3]; M[14][54]=b[17]; M[14][56]=b[1]; M[14][57]=b[11]; M[14][59]=b[5]; M[14][60]=b[10]; M[14][62]=b[9]; M[14][65]=b[3]; M[14][71]=b[4]; M[14][76]=b[8]; M[14][79]=b[14]; M[14][84]=b[12]; M[14][88]=c[12]; M[14][89]=c[3]; M[14][90]=c[10]; M[14][96]=c[14]; M[14][99]=c[17]; M[14][100]=c[4]; M[14][106]=c[1]; M[14][111]=c[9]; M[14][114]=c[11]; M[14][117]=c[5]; M[14][119]=c[8];
-	M[15][6]=u[2]; M[15][12]=u[3]; M[15][15]=u[1]; M[15][29]=a[1]; M[15][30]=a[9]; M[15][35]=a[18]; M[15][36]=a[15]; M[15][39]=a[11]; M[15][49]=a[3]; M[15][74]=b[1]; M[15][75]=b[9]; M[15][76]=b[3]; M[15][79]=b[11]; M[15][83]=b[18]; M[15][84]=b[15]; M[15][88]=c[15]; M[15][94]=c[1]; M[15][96]=c[11]; M[15][107]=c[9]; M[15][118]=c[18]; M[15][119]=c[3];
-	M[16][7]=u[2]; M[16][13]=u[3]; M[16][15]=u[4]; M[16][16]=u[1]; M[16][29]=a[10]; M[16][30]=a[4]; M[16][33]=a[15]; M[16][34]=a[18]; M[16][36]=a[6]; M[16][39]=a[5]; M[16][43]=a[3]; M[16][44]=a[1]; M[16][45]=a[9]; M[16][47]=a[11]; M[16][49]=a[17]; M[16][54]=b[18]; M[16][59]=b[15]; M[16][60]=b[11]; M[16][63]=b[9]; M[16][68]=b[1]; M[16][71]=b[3]; M[16][74]=b[10]; M[16][75]=b[4]; M[16][76]=b[17]; M[16][79]=b[5]; M[16][84]=b[6]; M[16][88]=c[6]; M[16][90]=c[11]; M[16][94]=c[10]; M[16][96]=c[5]; M[16][97]=c[1]; M[16][99]=c[18]; M[16][100]=c[3]; M[16][107]=c[4]; M[16][112]=c[9]; M[16][117]=c[15]; M[16][119]=c[17];
-	M[17][8]=u[2]; M[17][14]=u[3]; M[17][16]=u[4]; M[17][17]=u[1]; M[17][28]=a[15]; M[17][29]=a[14]; M[17][30]=a[8]; M[17][33]=a[6]; M[17][39]=a[12]; M[17][41]=a[3]; M[17][42]=a[11]; M[17][43]=a[17]; M[17][44]=a[10]; M[17][45]=a[4]; M[17][46]=a[9]; M[17][47]=a[5]; M[17][51]=a[18]; M[17][56]=b[11]; M[17][57]=b[15]; M[17][59]=b[6]; M[17][60]=b[5]; M[17][62]=b[3]; M[17][63]=b[4]; M[17][65]=b[18]; M[17][66]=b[9]; M[17][68]=b[10]; M[17][71]=b[17]; M[17][74]=b[14]; M[17][75]=b[8]; M[17][79]=b[12]; M[17][89]=c[18]; M[17][90]=c[5]; M[17][94]=c[14]; M[17][96]=c[12]; M[17][97]=c[10]; M[17][100]=c[17]; M[17][102]=c[9]; M[17][106]=c[11]; M[17][107]=c[8]; M[17][111]=c[3]; M[17][112]=c[4]; M[17][114]=c[15]; M[17][117]=c[6];
-	M[18][9]=u[2]; M[18][18]=u[1]; M[18][35]=a[13]; M[18][36]=a[9]; M[18][53]=a[1]; M[18][82]=b[1]; M[18][83]=b[13]; M[18][84]=b[9]; M[18][87]=c[1]; M[18][88]=c[9]; M[18][118]=c[13];
-	M[19][10]=u[2]; M[19][18]=u[4]; M[19][19]=u[1]; M[19][32]=a[1]; M[19][33]=a[9]; M[19][34]=a[13]; M[19][35]=a[19]; M[19][36]=a[4]; M[19][53]=a[10]; M[19][54]=b[13]; M[19][59]=b[9]; M[19][61]=b[1]; M[19][82]=b[10]; M[19][83]=b[19]; M[19][84]=b[4]; M[19][87]=c[10]; M[19][88]=c[4]; M[19][99]=c[13]; M[19][116]=c[1]; M[19][117]=c[9]; M[19][118]=c[19];
-	M[20][11]=u[2]; M[20][19]=u[4]; M[20][20]=u[1]; M[20][27]=a[1]; M[20][28]=a[9]; M[20][32]=a[10]; M[20][33]=a[4]; M[20][34]=a[19]; M[20][36]=a[8]; M[20][51]=a[13]; M[20][53]=a[14]; M[20][54]=b[19]; M[20][55]=b[1]; M[20][57]=b[9]; M[20][59]=b[4]; M[20][61]=b[10]; M[20][65]=b[13]; M[20][82]=b[14]; M[20][84]=b[8]; M[20][87]=c[14]; M[20][88]=c[8]; M[20][89]=c[13]; M[20][99]=c[19]; M[20][113]=c[1]; M[20][114]=c[9]; M[20][116]=c[10]; M[20][117]=c[4];
-	M[21][12]=u[2]; M[21][18]=u[3]; M[21][21]=u[1]; M[21][35]=a[2]; M[21][36]=a[3]; M[21][38]=a[1]; M[21][39]=a[9]; M[21][49]=a[13]; M[21][53]=a[11]; M[21][76]=b[13]; M[21][78]=b[1]; M[21][79]=b[9]; M[21][82]=b[11]; M[21][83]=b[2]; M[21][84]=b[3]; M[21][87]=c[11]; M[21][88]=c[3]; M[21][92]=c[1]; M[21][96]=c[9]; M[21][118]=c[2]; M[21][119]=c[13];
-	M[22][13]=u[2]; M[22][19]=u[3]; M[22][21]=u[4]; M[22][22]=u[1]; M[22][32]=a[11]; M[22][33]=a[3]; M[22][34]=a[2]; M[22][36]=a[17]; M[22][38]=a[10]; M[22][39]=a[4]; M[22][40]=a[1]; M[22][43]=a[13]; M[22][47]=a[9]; M[22][49]=a[19]; M[22][53]=a[5]; M[22][54]=b[2]; M[22][59]=b[3]; M[22][60]=b[9]; M[22][61]=b[11]; M[22][71]=b[13]; M[22][72]=b[1]; M[22][76]=b[19]; M[22][78]=b[10]; M[22][79]=b[4]; M[22][82]=b[5]; M[22][84]=b[17]; M[22][87]=c[5]; M[22][88]=c[17]; M[22][90]=c[9]; M[22][92]=c[10]; M[22][95]=c[1]; M[22][96]=c[4]; M[22][99]=c[2]; M[22][100]=c[13]; M[22][116]=c[11]; M[22][117]=c[3]; M[22][119]=c[19];
-	M[23][14]=u[2]; M[23][20]=u[3]; M[23][22]=u[4]; M[23][23]=u[1]; M[23][27]=a[11]; M[23][28]=a[3]; M[23][32]=a[5]; M[23][33]=a[17]; M[23][38]=a[14]; M[23][39]=a[8]; M[23][40]=a[10]; M[23][41]=a[13]; M[23][42]=a[9]; M[23][43]=a[19]; M[23][47]=a[4]; M[23][51]=a[2]; M[23][53]=a[12]; M[23][55]=b[11]; M[23][56]=b[9]; M[23][57]=b[3]; M[23][59]=b[17]; M[23][60]=b[4]; M[23][61]=b[5]; M[23][62]=b[13]; M[23][65]=b[2]; M[23][71]=b[19]; M[23][72]=b[10]; M[23][78]=b[14]; M[23][79]=b[8]; M[23][82]=b[12]; M[23][87]=c[12]; M[23][89]=c[2]; M[23][90]=c[4]; M[23][92]=c[14]; M[23][95]=c[10]; M[23][96]=c[8]; M[23][100]=c[19]; M[23][106]=c[9]; M[23][111]=c[13]; M[23][113]=c[11]; M[23][114]=c[3]; M[23][116]=c[5]; M[23][117]=c[17];
-	M[24][15]=u[2]; M[24][21]=u[3]; M[24][24]=u[1]; M[24][29]=a[9]; M[24][30]=a[13]; M[24][36]=a[18]; M[24][38]=a[11]; M[24][39]=a[3]; M[24][49]=a[2]; M[24][52]=a[1]; M[24][53]=a[15]; M[24][73]=b[1]; M[24][74]=b[9]; M[24][75]=b[13]; M[24][76]=b[2]; M[24][78]=b[11]; M[24][79]=b[3]; M[24][82]=b[15]; M[24][84]=b[18]; M[24][87]=c[15]; M[24][88]=c[18]; M[24][92]=c[11]; M[24][93]=c[1]; M[24][94]=c[9]; M[24][96]=c[3]; M[24][107]=c[13]; M[24][119]=c[2];
-	M[25][16]=u[2]; M[25][22]=u[3]; M[25][24]=u[4]; M[25][25]=u[1]; M[25][29]=a[4]; M[25][30]=a[19]; M[25][32]=a[15]; M[25][33]=a[18]; M[25][38]=a[5]; M[25][39]=a[17]; M[25][40]=a[11]; M[25][43]=a[2]; M[25][44]=a[9]; M[25][45]=a[13]; M[25][47]=a[3]; M[25][52]=a[10]; M[25][53]=a[6]; M[25][59]=b[18]; M[25][60]=b[3]; M[25][61]=b[15]; M[25][63]=b[13]; M[25][68]=b[9]; M[25][71]=b[2]; M[25][72]=b[11]; M[25][73]=b[10]; M[25][74]=b[4]; M[25][75]=b[19]; M[25][78]=b[5]; M[25][79]=b[17]; M[25][82]=b[6]; M[25][87]=c[6]; M[25][90]=c[3]; M[25][92]=c[5]; M[25][93]=c[10]; M[25][94]=c[4]; M[25][95]=c[11]; M[25][96]=c[17]; M[25][97]=c[9]; M[25][100]=c[2]; M[25][107]=c[19]; M[25][112]=c[13]; M[25][116]=c[15]; M[25][117]=c[18];
-	M[26][17]=u[2]; M[26][23]=u[3]; M[26][25]=u[4]; M[26][26]=u[1]; M[26][27]=a[15]; M[26][28]=a[18]; M[26][29]=a[8]; M[26][32]=a[6]; M[26][38]=a[12]; M[26][40]=a[5]; M[26][41]=a[2]; M[26][42]=a[3]; M[26][44]=a[4]; M[26][45]=a[19]; M[26][46]=a[13]; M[26][47]=a[17]; M[26][52]=a[14]; M[26][55]=b[15]; M[26][56]=b[3]; M[26][57]=b[18]; M[26][60]=b[17]; M[26][61]=b[6]; M[26][62]=b[2]; M[26][63]=b[19]; M[26][66]=b[13]; M[26][68]=b[4]; M[26][72]=b[5]; M[26][73]=b[14]; M[26][74]=b[8]; M[26][78]=b[12]; M[26][90]=c[17]; M[26][92]=c[12]; M[26][93]=c[14]; M[26][94]=c[8]; M[26][95]=c[5]; M[26][97]=c[4]; M[26][102]=c[13]; M[26][106]=c[3]; M[26][111]=c[2]; M[26][112]=c[19]; M[26][113]=c[15]; M[26][114]=c[18]; M[26][116]=c[6];
-	M[27][15]=u[3]; M[27][29]=a[11]; M[27][30]=a[3]; M[27][36]=a[7]; M[27][39]=a[15]; M[27][49]=a[18]; M[27][69]=b[9]; M[27][70]=b[1]; M[27][74]=b[11]; M[27][75]=b[3]; M[27][76]=b[18]; M[27][79]=b[15]; M[27][84]=b[7]; M[27][88]=c[7]; M[27][91]=c[1]; M[27][94]=c[11]; M[27][96]=c[15]; M[27][107]=c[3]; M[27][110]=c[9]; M[27][119]=c[18];
-	M[28][6]=u[3]; M[28][30]=a[11]; M[28][35]=a[7]; M[28][49]=a[15]; M[28][69]=b[1]; M[28][75]=b[11]; M[28][76]=b[15]; M[28][83]=b[7]; M[28][107]=c[11]; M[28][110]=c[1]; M[28][118]=c[7]; M[28][119]=c[15];
-	M[29][24]=u[3]; M[29][29]=a[3]; M[29][30]=a[2]; M[29][38]=a[15]; M[29][39]=a[18]; M[29][52]=a[11]; M[29][53]=a[7]; M[29][69]=b[13]; M[29][70]=b[9]; M[29][73]=b[11]; M[29][74]=b[3]; M[29][75]=b[2]; M[29][78]=b[15]; M[29][79]=b[18]; M[29][82]=b[7]; M[29][87]=c[7]; M[29][91]=c[9]; M[29][92]=c[15]; M[29][93]=c[11]; M[29][94]=c[3]; M[29][96]=c[18]; M[29][107]=c[2]; M[29][110]=c[13];
-	M[30][37]=a[18]; M[30][48]=a[7]; M[30][52]=a[2]; M[30][70]=b[20]; M[30][73]=b[2]; M[30][77]=b[18]; M[30][81]=b[7]; M[30][85]=c[7]; M[30][91]=c[20]; M[30][93]=c[2]; M[30][98]=c[18];
-	M[31][29]=a[2]; M[31][37]=a[15]; M[31][38]=a[18]; M[31][50]=a[7]; M[31][52]=a[3]; M[31][69]=b[20]; M[31][70]=b[13]; M[31][73]=b[3]; M[31][74]=b[2]; M[31][77]=b[15]; M[31][78]=b[18]; M[31][80]=b[7]; M[31][86]=c[7]; M[31][91]=c[13]; M[31][92]=c[18]; M[31][93]=c[3]; M[31][94]=c[2]; M[31][98]=c[15]; M[31][110]=c[20];
-	M[32][48]=a[9]; M[32][50]=a[13]; M[32][53]=a[20]; M[32][80]=b[13]; M[32][81]=b[9]; M[32][82]=b[20]; M[32][85]=c[9]; M[32][86]=c[13]; M[32][87]=c[20];
-	M[33][29]=a[15]; M[33][30]=a[18]; M[33][39]=a[7]; M[33][64]=b[9]; M[33][69]=b[3]; M[33][70]=b[11]; M[33][74]=b[15]; M[33][75]=b[18]; M[33][79]=b[7]; M[33][91]=c[11]; M[33][94]=c[15]; M[33][96]=c[7]; M[33][103]=c[9]; M[33][107]=c[18]; M[33][110]=c[3];
-	M[34][29]=a[18]; M[34][38]=a[7]; M[34][52]=a[15]; M[34][64]=b[13]; M[34][69]=b[2]; M[34][70]=b[3]; M[34][73]=b[15]; M[34][74]=b[18]; M[34][78]=b[7]; M[34][91]=c[3]; M[34][92]=c[7]; M[34][93]=c[15]; M[34][94]=c[18]; M[34][103]=c[13]; M[34][110]=c[2];
-	M[35][37]=a[7]; M[35][52]=a[18]; M[35][64]=b[20]; M[35][70]=b[2]; M[35][73]=b[18]; M[35][77]=b[7]; M[35][91]=c[2]; M[35][93]=c[18]; M[35][98]=c[7]; M[35][103]=c[20];
-	M[36][5]=u[4]; M[36][34]=a[12]; M[36][41]=a[10]; M[36][43]=a[14]; M[36][49]=a[16]; M[36][51]=a[5]; M[36][54]=b[12]; M[36][62]=b[10]; M[36][65]=b[5]; M[36][71]=b[14]; M[36][76]=b[16]; M[36][89]=c[5]; M[36][99]=c[12]; M[36][100]=c[14]; M[36][101]=c[1]; M[36][109]=c[11]; M[36][111]=c[10]; M[36][119]=c[16];
-	M[37][2]=u[4]; M[37][34]=a[14]; M[37][35]=a[16]; M[37][51]=a[10]; M[37][54]=b[14]; M[37][65]=b[10]; M[37][83]=b[16]; M[37][89]=c[10]; M[37][99]=c[14]; M[37][109]=c[1]; M[37][118]=c[16];
-	M[38][30]=a[15]; M[38][49]=a[7]; M[38][64]=b[1]; M[38][69]=b[11]; M[38][75]=b[15]; M[38][76]=b[7]; M[38][103]=c[1]; M[38][107]=c[15]; M[38][110]=c[11]; M[38][119]=c[7];
-	M[39][28]=a[14]; M[39][33]=a[16]; M[39][51]=a[8]; M[39][57]=b[14]; M[39][59]=b[16]; M[39][65]=b[8]; M[39][89]=c[8]; M[39][105]=c[9]; M[39][108]=c[10]; M[39][109]=c[4]; M[39][114]=c[14]; M[39][117]=c[16];
-	M[40][27]=a[14]; M[40][28]=a[8]; M[40][32]=a[16]; M[40][55]=b[14]; M[40][57]=b[8]; M[40][61]=b[16]; M[40][105]=c[13]; M[40][108]=c[4]; M[40][109]=c[19]; M[40][113]=c[14]; M[40][114]=c[8]; M[40][116]=c[16];
-	M[41][30]=a[7]; M[41][64]=b[11]; M[41][69]=b[15]; M[41][75]=b[7]; M[41][103]=c[11]; M[41][107]=c[7]; M[41][110]=c[15];
-	M[42][27]=a[8]; M[42][31]=a[16]; M[42][55]=b[8]; M[42][58]=b[16]; M[42][105]=c[20]; M[42][108]=c[19]; M[42][113]=c[8]; M[42][115]=c[16];
-	M[43][29]=a[7]; M[43][64]=b[3]; M[43][69]=b[18]; M[43][70]=b[15]; M[43][74]=b[7]; M[43][91]=c[15]; M[43][94]=c[7]; M[43][103]=c[3]; M[43][110]=c[18];
-	M[44][28]=a[16]; M[44][57]=b[16]; M[44][105]=c[4]; M[44][108]=c[14]; M[44][109]=c[8]; M[44][114]=c[16];
-	M[45][27]=a[16]; M[45][55]=b[16]; M[45][105]=c[19]; M[45][108]=c[8]; M[45][113]=c[16];
-	M[46][52]=a[7]; M[46][64]=b[2]; M[46][70]=b[18]; M[46][73]=b[7]; M[46][91]=c[18]; M[46][93]=c[7]; M[46][103]=c[2];
-	M[47][40]=a[7]; M[47][44]=a[18]; M[47][52]=a[6]; M[47][64]=b[19]; M[47][67]=b[2]; M[47][68]=b[18]; M[47][70]=b[17]; M[47][72]=b[7]; M[47][73]=b[6]; M[47][91]=c[17]; M[47][93]=c[6]; M[47][95]=c[7]; M[47][97]=c[18]; M[47][103]=c[19]; M[47][104]=c[2];
-	M[48][30]=a[6]; M[48][43]=a[7]; M[48][45]=a[15]; M[48][63]=b[15]; M[48][64]=b[10]; M[48][67]=b[11]; M[48][69]=b[5]; M[48][71]=b[7]; M[48][75]=b[6]; M[48][100]=c[7]; M[48][103]=c[10]; M[48][104]=c[11]; M[48][107]=c[6]; M[48][110]=c[5]; M[48][112]=c[15];
-	M[49][41]=a[12]; M[49][45]=a[16]; M[49][46]=a[14]; M[49][62]=b[12]; M[49][63]=b[16]; M[49][66]=b[14]; M[49][101]=c[5]; M[49][102]=c[14]; M[49][105]=c[15]; M[49][109]=c[6]; M[49][111]=c[12]; M[49][112]=c[16];
-	M[50][41]=a[16]; M[50][62]=b[16]; M[50][101]=c[14]; M[50][105]=c[5]; M[50][109]=c[12]; M[50][111]=c[16];
-	M[51][64]=b[18]; M[51][70]=b[7]; M[51][91]=c[7]; M[51][103]=c[18];
-	M[52][41]=a[6]; M[52][45]=a[12]; M[52][46]=a[5]; M[52][62]=b[6]; M[52][63]=b[12]; M[52][66]=b[5]; M[52][67]=b[14]; M[52][69]=b[16]; M[52][101]=c[15]; M[52][102]=c[5]; M[52][104]=c[14]; M[52][109]=c[7]; M[52][110]=c[16]; M[52][111]=c[6]; M[52][112]=c[12];
-	M[53][64]=b[15]; M[53][69]=b[7]; M[53][103]=c[15]; M[53][110]=c[7];
-	M[54][105]=c[14]; M[54][109]=c[16];
-	M[55][44]=a[7]; M[55][64]=b[17]; M[55][67]=b[18]; M[55][68]=b[7]; M[55][70]=b[6]; M[55][91]=c[6]; M[55][97]=c[7]; M[55][103]=c[17]; M[55][104]=c[18];
-	M[56][105]=c[8]; M[56][108]=c[16];
-	M[57][64]=b[6]; M[57][67]=b[7]; M[57][103]=c[6]; M[57][104]=c[7];
-	M[58][46]=a[7]; M[58][64]=b[12]; M[58][66]=b[7]; M[58][67]=b[6]; M[58][102]=c[7]; M[58][103]=c[12]; M[58][104]=c[6];
-	M[59][8]=u[4]; M[59][30]=a[16]; M[59][41]=a[5]; M[59][43]=a[12]; M[59][45]=a[14]; M[59][46]=a[10]; M[59][51]=a[6]; M[59][62]=b[5]; M[59][63]=b[14]; M[59][65]=b[6]; M[59][66]=b[10]; M[59][71]=b[12]; M[59][75]=b[16]; M[59][89]=c[6]; M[59][100]=c[12]; M[59][101]=c[11]; M[59][102]=c[10]; M[59][107]=c[16]; M[59][109]=c[15]; M[59][111]=c[5]; M[59][112]=c[14];
-	M[60][8]=u[3]; M[60][30]=a[12]; M[60][41]=a[15]; M[60][43]=a[6]; M[60][45]=a[5]; M[60][46]=a[11]; M[60][51]=a[7]; M[60][62]=b[15]; M[60][63]=b[5]; M[60][65]=b[7]; M[60][66]=b[11]; M[60][67]=b[10]; M[60][69]=b[14]; M[60][71]=b[6]; M[60][75]=b[12]; M[60][89]=c[7]; M[60][100]=c[6]; M[60][102]=c[11]; M[60][104]=c[10]; M[60][107]=c[12]; M[60][110]=c[14]; M[60][111]=c[15]; M[60][112]=c[5];
-	M[61][42]=a[16]; M[61][56]=b[16]; M[61][101]=c[8]; M[61][105]=c[17]; M[61][106]=c[16]; M[61][108]=c[12];
-	M[62][64]=b[7]; M[62][103]=c[7];
-	M[63][105]=c[16];
-	M[64][46]=a[12]; M[64][66]=b[12]; M[64][67]=b[16]; M[64][101]=c[6]; M[64][102]=c[12]; M[64][104]=c[16]; M[64][105]=c[7];
-	M[65][46]=a[6]; M[65][64]=b[16]; M[65][66]=b[6]; M[65][67]=b[12]; M[65][101]=c[7]; M[65][102]=c[6]; M[65][103]=c[16]; M[65][104]=c[12];
-	M[66][46]=a[16]; M[66][66]=b[16]; M[66][101]=c[12]; M[66][102]=c[16]; M[66][105]=c[6];
-	M[67][101]=c[16]; M[67][105]=c[12];
-	M[68][41]=a[14]; M[68][43]=a[16]; M[68][51]=a[12]; M[68][62]=b[14]; M[68][65]=b[12]; M[68][71]=b[16]; M[68][89]=c[12]; M[68][100]=c[16]; M[68][101]=c[10]; M[68][105]=c[11]; M[68][109]=c[5]; M[68][111]=c[14];
-	M[69][37]=a[2]; M[69][48]=a[18]; M[69][52]=a[20]; M[69][73]=b[20]; M[69][77]=b[2]; M[69][81]=b[18]; M[69][85]=c[18]; M[69][93]=c[20]; M[69][98]=c[2];
-	M[70][20]=u[2]; M[70][27]=a[9]; M[70][28]=a[13]; M[70][31]=a[10]; M[70][32]=a[4]; M[70][33]=a[19]; M[70][50]=a[14]; M[70][51]=a[20]; M[70][53]=a[8]; M[70][55]=b[9]; M[70][57]=b[13]; M[70][58]=b[10]; M[70][59]=b[19]; M[70][61]=b[4]; M[70][65]=b[20]; M[70][80]=b[14]; M[70][82]=b[8]; M[70][86]=c[14]; M[70][87]=c[8]; M[70][89]=c[20]; M[70][113]=c[9]; M[70][114]=c[13]; M[70][115]=c[10]; M[70][116]=c[4]; M[70][117]=c[19];
-	M[71][45]=a[7]; M[71][63]=b[7]; M[71][64]=b[5]; M[71][67]=b[15]; M[71][69]=b[6]; M[71][103]=c[5]; M[71][104]=c[15]; M[71][110]=c[6]; M[71][112]=c[7];
-	M[72][41]=a[7]; M[72][45]=a[6]; M[72][46]=a[15]; M[72][62]=b[7]; M[72][63]=b[6]; M[72][64]=b[14]; M[72][66]=b[15]; M[72][67]=b[5]; M[72][69]=b[12]; M[72][102]=c[15]; M[72][103]=c[14]; M[72][104]=c[5]; M[72][110]=c[12]; M[72][111]=c[7]; M[72][112]=c[6];
-	M[73][48]=a[13]; M[73][50]=a[20]; M[73][80]=b[20]; M[73][81]=b[13]; M[73][85]=c[13]; M[73][86]=c[20];
-	M[74][25]=u[3]; M[74][29]=a[17]; M[74][32]=a[7]; M[74][38]=a[6]; M[74][40]=a[15]; M[74][44]=a[3]; M[74][45]=a[2]; M[74][47]=a[18]; M[74][52]=a[5]; M[74][60]=b[18]; M[74][61]=b[7]; M[74][63]=b[2]; M[74][67]=b[13]; M[74][68]=b[3]; M[74][69]=b[19]; M[74][70]=b[4]; M[74][72]=b[15]; M[74][73]=b[5]; M[74][74]=b[17]; M[74][78]=b[6]; M[74][90]=c[18]; M[74][91]=c[4]; M[74][92]=c[6]; M[74][93]=c[5]; M[74][94]=c[17]; M[74][95]=c[15]; M[74][97]=c[3]; M[74][104]=c[13]; M[74][110]=c[19]; M[74][112]=c[2]; M[74][116]=c[7];
-	M[75][21]=u[2]; M[75][36]=a[2]; M[75][37]=a[1]; M[75][38]=a[9]; M[75][39]=a[13]; M[75][49]=a[20]; M[75][50]=a[11]; M[75][53]=a[3]; M[75][76]=b[20]; M[75][77]=b[1]; M[75][78]=b[9]; M[75][79]=b[13]; M[75][80]=b[11]; M[75][82]=b[3]; M[75][84]=b[2]; M[75][86]=c[11]; M[75][87]=c[3]; M[75][88]=c[2]; M[75][92]=c[9]; M[75][96]=c[13]; M[75][98]=c[1]; M[75][119]=c[20];
-	M[76][48]=a[20]; M[76][81]=b[20]; M[76][85]=c[20];
-	M[77][34]=a[16]; M[77][51]=a[14]; M[77][54]=b[16]; M[77][65]=b[14]; M[77][89]=c[14]; M[77][99]=c[16]; M[77][105]=c[1]; M[77][109]=c[10];
-	M[78][27]=a[17]; M[78][31]=a[12]; M[78][37]=a[16]; M[78][40]=a[8]; M[78][42]=a[19]; M[78][55]=b[17]; M[78][56]=b[19]; M[78][58]=b[12]; M[78][72]=b[8]; M[78][77]=b[16]; M[78][95]=c[8]; M[78][98]=c[16]; M[78][101]=c[20]; M[78][106]=c[19]; M[78][108]=c[2]; M[78][113]=c[17]; M[78][115]=c[12];
-	M[79][42]=a[12]; M[79][44]=a[16]; M[79][46]=a[8]; M[79][56]=b[12]; M[79][66]=b[8]; M[79][68]=b[16]; M[79][97]=c[16]; M[79][101]=c[17]; M[79][102]=c[8]; M[79][105]=c[18]; M[79][106]=c[12]; M[79][108]=c[6];
-	M[80][14]=u[4]; M[80][28]=a[5]; M[80][33]=a[12]; M[80][39]=a[16]; M[80][41]=a[4]; M[80][42]=a[10]; M[80][43]=a[8]; M[80][47]=a[14]; M[80][51]=a[17]; M[80][56]=b[10]; M[80][57]=b[5]; M[80][59]=b[12]; M[80][60]=b[14]; M[80][62]=b[4]; M[80][65]=b[17]; M[80][71]=b[8]; M[80][79]=b[16]; M[80][89]=c[17]; M[80][90]=c[14]; M[80][96]=c[16]; M[80][100]=c[8]; M[80][101]=c[9]; M[80][106]=c[10]; M[80][108]=c[11]; M[80][109]=c[3]; M[80][111]=c[4]; M[80][114]=c[5]; M[80][117]=c[12];
-	M[81][31]=a[3]; M[81][32]=a[2]; M[81][37]=a[4]; M[81][38]=a[19]; M[81][40]=a[13]; M[81][47]=a[20]; M[81][48]=a[5]; M[81][50]=a[17]; M[81][58]=b[3]; M[81][60]=b[20]; M[81][61]=b[2]; M[81][72]=b[13]; M[81][77]=b[4]; M[81][78]=b[19]; M[81][80]=b[17]; M[81][81]=b[5]; M[81][85]=c[5]; M[81][86]=c[17]; M[81][90]=c[20]; M[81][92]=c[19]; M[81][95]=c[13]; M[81][98]=c[4]; M[81][115]=c[3]; M[81][116]=c[2];
-	M[82][29]=a[6]; M[82][44]=a[15]; M[82][45]=a[18]; M[82][47]=a[7]; M[82][60]=b[7]; M[82][63]=b[18]; M[82][64]=b[4]; M[82][67]=b[3]; M[82][68]=b[15]; M[82][69]=b[17]; M[82][70]=b[5]; M[82][74]=b[6]; M[82][90]=c[7]; M[82][91]=c[5]; M[82][94]=c[6]; M[82][97]=c[15]; M[82][103]=c[4]; M[82][104]=c[3]; M[82][110]=c[17]; M[82][112]=c[18];
-	M[83][26]=u[2]; M[83][27]=a[18]; M[83][31]=a[6]; M[83][37]=a[12]; M[83][40]=a[17]; M[83][42]=a[2]; M[83][44]=a[19]; M[83][46]=a[20]; M[83][52]=a[8]; M[83][55]=b[18]; M[83][56]=b[2]; M[83][58]=b[6]; M[83][66]=b[20]; M[83][68]=b[19]; M[83][72]=b[17]; M[83][73]=b[8]; M[83][77]=b[12]; M[83][93]=c[8]; M[83][95]=c[17]; M[83][97]=c[19]; M[83][98]=c[12]; M[83][102]=c[20]; M[83][106]=c[2]; M[83][113]=c[18]; M[83][115]=c[6];
-	M[84][16]=u[3]; M[84][29]=a[5]; M[84][30]=a[17]; M[84][33]=a[7]; M[84][39]=a[6]; M[84][43]=a[18]; M[84][44]=a[11]; M[84][45]=a[3]; M[84][47]=a[15]; M[84][59]=b[7]; M[84][60]=b[15]; M[84][63]=b[3]; M[84][67]=b[9]; M[84][68]=b[11]; M[84][69]=b[4]; M[84][70]=b[10]; M[84][71]=b[18]; M[84][74]=b[5]; M[84][75]=b[17]; M[84][79]=b[6]; M[84][90]=c[15]; M[84][91]=c[10]; M[84][94]=c[5]; M[84][96]=c[6]; M[84][97]=c[11]; M[84][100]=c[18]; M[84][104]=c[9]; M[84][107]=c[17]; M[84][110]=c[4]; M[84][112]=c[3]; M[84][117]=c[7];
-	M[85][25]=u[2]; M[85][29]=a[19]; M[85][31]=a[15]; M[85][32]=a[18]; M[85][37]=a[5]; M[85][38]=a[17]; M[85][40]=a[3]; M[85][44]=a[13]; M[85][45]=a[20]; M[85][47]=a[2]; M[85][50]=a[6]; M[85][52]=a[4]; M[85][58]=b[15]; M[85][60]=b[2]; M[85][61]=b[18]; M[85][63]=b[20]; M[85][68]=b[13]; M[85][72]=b[3]; M[85][73]=b[4]; M[85][74]=b[19]; M[85][77]=b[5]; M[85][78]=b[17]; M[85][80]=b[6]; M[85][86]=c[6]; M[85][90]=c[2]; M[85][92]=c[17]; M[85][93]=c[4]; M[85][94]=c[19]; M[85][95]=c[3]; M[85][97]=c[13]; M[85][98]=c[5]; M[85][112]=c[20]; M[85][115]=c[15]; M[85][116]=c[18];
-	M[86][31]=a[18]; M[86][37]=a[17]; M[86][40]=a[2]; M[86][44]=a[20]; M[86][48]=a[6]; M[86][52]=a[19]; M[86][58]=b[18]; M[86][68]=b[20]; M[86][72]=b[2]; M[86][73]=b[19]; M[86][77]=b[17]; M[86][81]=b[6]; M[86][85]=c[6]; M[86][93]=c[19]; M[86][95]=c[2]; M[86][97]=c[20]; M[86][98]=c[17]; M[86][115]=c[18];
-	M[87][22]=u[2]; M[87][31]=a[11]; M[87][32]=a[3]; M[87][33]=a[2]; M[87][37]=a[10]; M[87][38]=a[4]; M[87][39]=a[19]; M[87][40]=a[9]; M[87][43]=a[20]; M[87][47]=a[13]; M[87][50]=a[5]; M[87][53]=a[17]; M[87][58]=b[11]; M[87][59]=b[2]; M[87][60]=b[13]; M[87][61]=b[3]; M[87][71]=b[20]; M[87][72]=b[9]; M[87][77]=b[10]; M[87][78]=b[4]; M[87][79]=b[19]; M[87][80]=b[5]; M[87][82]=b[17]; M[87][86]=c[5]; M[87][87]=c[17]; M[87][90]=c[13]; M[87][92]=c[4]; M[87][95]=c[9]; M[87][96]=c[19]; M[87][98]=c[10]; M[87][100]=c[20]; M[87][115]=c[11]; M[87][116]=c[3]; M[87][117]=c[2];
-	M[88][27]=a[2]; M[88][31]=a[17]; M[88][37]=a[8]; M[88][40]=a[19]; M[88][42]=a[20]; M[88][48]=a[12]; M[88][55]=b[2]; M[88][56]=b[20]; M[88][58]=b[17]; M[88][72]=b[19]; M[88][77]=b[8]; M[88][81]=b[12]; M[88][85]=c[12]; M[88][95]=c[19]; M[88][98]=c[8]; M[88][106]=c[20]; M[88][113]=c[2]; M[88][115]=c[17];
-	M[89][31]=a[7]; M[89][37]=a[6]; M[89][40]=a[18]; M[89][44]=a[2]; M[89][52]=a[17]; M[89][58]=b[7]; M[89][67]=b[20]; M[89][68]=b[2]; M[89][70]=b[19]; M[89][72]=b[18]; M[89][73]=b[17]; M[89][77]=b[6]; M[89][91]=c[19]; M[89][93]=c[17]; M[89][95]=c[18]; M[89][97]=c[2]; M[89][98]=c[6]; M[89][104]=c[20]; M[89][115]=c[7];
-	M[90][27]=a[12]; M[90][40]=a[16]; M[90][42]=a[8]; M[90][55]=b[12]; M[90][56]=b[8]; M[90][72]=b[16]; M[90][95]=c[16]; M[90][101]=c[19]; M[90][105]=c[2]; M[90][106]=c[8]; M[90][108]=c[17]; M[90][113]=c[12];
-	M[91][23]=u[2]; M[91][27]=a[3]; M[91][28]=a[2]; M[91][31]=a[5]; M[91][32]=a[17]; M[91][37]=a[14]; M[91][38]=a[8]; M[91][40]=a[4]; M[91][41]=a[20]; M[91][42]=a[13]; M[91][47]=a[19]; M[91][50]=a[12]; M[91][55]=b[3]; M[91][56]=b[13]; M[91][57]=b[2]; M[91][58]=b[5]; M[91][60]=b[19]; M[91][61]=b[17]; M[91][62]=b[20]; M[91][72]=b[4]; M[91][77]=b[14]; M[91][78]=b[8]; M[91][80]=b[12]; M[91][86]=c[12]; M[91][90]=c[19]; M[91][92]=c[8]; M[91][95]=c[4]; M[91][98]=c[14]; M[91][106]=c[13]; M[91][111]=c[20]; M[91][113]=c[3]; M[91][114]=c[2]; M[91][115]=c[5]; M[91][116]=c[17];
-	M[92][17]=u[4]; M[92][28]=a[6]; M[92][29]=a[16]; M[92][41]=a[17]; M[92][42]=a[5]; M[92][44]=a[14]; M[92][45]=a[8]; M[92][46]=a[4]; M[92][47]=a[12]; M[92][56]=b[5]; M[92][57]=b[6]; M[92][60]=b[12]; M[92][62]=b[17]; M[92][63]=b[8]; M[92][66]=b[4]; M[92][68]=b[14]; M[92][74]=b[16]; M[92][90]=c[12]; M[92][94]=c[16]; M[92][97]=c[14]; M[92][101]=c[3]; M[92][102]=c[4]; M[92][106]=c[5]; M[92][108]=c[15]; M[92][109]=c[18]; M[92][111]=c[17]; M[92][112]=c[8]; M[92][114]=c[6];
-	M[93][17]=u[3]; M[93][28]=a[7]; M[93][29]=a[12]; M[93][41]=a[18]; M[93][42]=a[15]; M[93][44]=a[5]; M[93][45]=a[17]; M[93][46]=a[3]; M[93][47]=a[6]; M[93][56]=b[15]; M[93][57]=b[7]; M[93][60]=b[6]; M[93][62]=b[18]; M[93][63]=b[17]; M[93][66]=b[3]; M[93][67]=b[4]; M[93][68]=b[5]; M[93][69]=b[8]; M[93][70]=b[14]; M[93][74]=b[12]; M[93][90]=c[6]; M[93][91]=c[14]; M[93][94]=c[12]; M[93][97]=c[5]; M[93][102]=c[3]; M[93][104]=c[4]; M[93][106]=c[15]; M[93][110]=c[8]; M[93][111]=c[18]; M[93][112]=c[17]; M[93][114]=c[7];
-	M[94][31]=a[2]; M[94][37]=a[19]; M[94][40]=a[20]; M[94][48]=a[17]; M[94][58]=b[2]; M[94][72]=b[20]; M[94][77]=b[19]; M[94][81]=b[17]; M[94][85]=c[17]; M[94][95]=c[20]; M[94][98]=c[19]; M[94][115]=c[2];
-	M[95][26]=u[4]; M[95][27]=a[6]; M[95][40]=a[12]; M[95][42]=a[17]; M[95][44]=a[8]; M[95][46]=a[19]; M[95][52]=a[16]; M[95][55]=b[6]; M[95][56]=b[17]; M[95][66]=b[19]; M[95][68]=b[8]; M[95][72]=b[12]; M[95][73]=b[16]; M[95][93]=c[16]; M[95][95]=c[12]; M[95][97]=c[8]; M[95][101]=c[2]; M[95][102]=c[19]; M[95][106]=c[17]; M[95][108]=c[18]; M[95][113]=c[6];
-	M[96][23]=u[4]; M[96][27]=a[5]; M[96][28]=a[17]; M[96][32]=a[12]; M[96][38]=a[16]; M[96][40]=a[14]; M[96][41]=a[19]; M[96][42]=a[4]; M[96][47]=a[8]; M[96][55]=b[5]; M[96][56]=b[4]; M[96][57]=b[17]; M[96][60]=b[8]; M[96][61]=b[12]; M[96][62]=b[19]; M[96][72]=b[14]; M[96][78]=b[16]; M[96][90]=c[8]; M[96][92]=c[16]; M[96][95]=c[14]; M[96][101]=c[13]; M[96][106]=c[4]; M[96][108]=c[3]; M[96][109]=c[2]; M[96][111]=c[19]; M[96][113]=c[5]; M[96][114]=c[17]; M[96][116]=c[12];
-	M[97][42]=a[6]; M[97][44]=a[12]; M[97][46]=a[17]; M[97][56]=b[6]; M[97][66]=b[17]; M[97][67]=b[8]; M[97][68]=b[12]; M[97][70]=b[16]; M[97][91]=c[16]; M[97][97]=c[12]; M[97][101]=c[18]; M[97][102]=c[17]; M[97][104]=c[8]; M[97][106]=c[6]; M[97][108]=c[7];
-	M[98][28]=a[12]; M[98][41]=a[8]; M[98][42]=a[14]; M[98][47]=a[16]; M[98][56]=b[14]; M[98][57]=b[12]; M[98][60]=b[16]; M[98][62]=b[8]; M[98][90]=c[16]; M[98][101]=c[4]; M[98][105]=c[3]; M[98][106]=c[14]; M[98][108]=c[5]; M[98][109]=c[17]; M[98][111]=c[8]; M[98][114]=c[12];
-	M[99][42]=a[7]; M[99][44]=a[6]; M[99][46]=a[18]; M[99][56]=b[7]; M[99][64]=b[8]; M[99][66]=b[18]; M[99][67]=b[17]; M[99][68]=b[6]; M[99][70]=b[12]; M[99][91]=c[12]; M[99][97]=c[6]; M[99][102]=c[18]; M[99][103]=c[8]; M[99][104]=c[17]; M[99][106]=c[7];
-	M[100][51]=a[16]; M[100][65]=b[16]; M[100][89]=c[16]; M[100][105]=c[10]; M[100][109]=c[14];
-	M[101][37]=a[9]; M[101][38]=a[13]; M[101][39]=a[20]; M[101][48]=a[11]; M[101][50]=a[3]; M[101][53]=a[2]; M[101][77]=b[9]; M[101][78]=b[13]; M[101][79]=b[20]; M[101][80]=b[3]; M[101][81]=b[11]; M[101][82]=b[2]; M[101][85]=c[11]; M[101][86]=c[3]; M[101][87]=c[2]; M[101][92]=c[13]; M[101][96]=c[20]; M[101][98]=c[9];
-	M[102][37]=a[13]; M[102][38]=a[20]; M[102][48]=a[3]; M[102][50]=a[2]; M[102][77]=b[13]; M[102][78]=b[20]; M[102][80]=b[2]; M[102][81]=b[3]; M[102][85]=c[3]; M[102][86]=c[2]; M[102][92]=c[20]; M[102][98]=c[13];
-	M[103][37]=a[20]; M[103][48]=a[2]; M[103][77]=b[20]; M[103][81]=b[2]; M[103][85]=c[2]; M[103][98]=c[20];
-	M[104][11]=u[4]; M[104][28]=a[10]; M[104][33]=a[14]; M[104][34]=a[8]; M[104][36]=a[16]; M[104][51]=a[4]; M[104][54]=b[8]; M[104][57]=b[10]; M[104][59]=b[14]; M[104][65]=b[4]; M[104][84]=b[16]; M[104][88]=c[16]; M[104][89]=c[4]; M[104][99]=c[8]; M[104][108]=c[1]; M[104][109]=c[9]; M[104][114]=c[10]; M[104][117]=c[14];
-	M[105][20]=u[4]; M[105][27]=a[10]; M[105][28]=a[4]; M[105][32]=a[14]; M[105][33]=a[8]; M[105][51]=a[19]; M[105][53]=a[16]; M[105][55]=b[10]; M[105][57]=b[4]; M[105][59]=b[8]; M[105][61]=b[14]; M[105][65]=b[19]; M[105][82]=b[16]; M[105][87]=c[16]; M[105][89]=c[19]; M[105][108]=c[9]; M[105][109]=c[13]; M[105][113]=c[10]; M[105][114]=c[4]; M[105][116]=c[14]; M[105][117]=c[8];
-	M[106][27]=a[4]; M[106][28]=a[19]; M[106][31]=a[14]; M[106][32]=a[8]; M[106][50]=a[16]; M[106][55]=b[4]; M[106][57]=b[19]; M[106][58]=b[14]; M[106][61]=b[8]; M[106][80]=b[16]; M[106][86]=c[16]; M[106][108]=c[13]; M[106][109]=c[20]; M[106][113]=c[4]; M[106][114]=c[19]; M[106][115]=c[14]; M[106][116]=c[8];
-	M[107][27]=a[19]; M[107][31]=a[8]; M[107][48]=a[16]; M[107][55]=b[19]; M[107][58]=b[8]; M[107][81]=b[16]; M[107][85]=c[16]; M[107][108]=c[20]; M[107][113]=c[19]; M[107][115]=c[8];
-	M[108][36]=a[20]; M[108][48]=a[1]; M[108][50]=a[9]; M[108][53]=a[13]; M[108][80]=b[9]; M[108][81]=b[1]; M[108][82]=b[13]; M[108][84]=b[20]; M[108][85]=c[1]; M[108][86]=c[9]; M[108][87]=c[13]; M[108][88]=c[20];
-	M[109][26]=u[3]; M[109][27]=a[7]; M[109][40]=a[6]; M[109][42]=a[18]; M[109][44]=a[17]; M[109][46]=a[2]; M[109][52]=a[12]; M[109][55]=b[7]; M[109][56]=b[18]; M[109][66]=b[2]; M[109][67]=b[19]; M[109][68]=b[17]; M[109][70]=b[8]; M[109][72]=b[6]; M[109][73]=b[12]; M[109][91]=c[8]; M[109][93]=c[12]; M[109][95]=c[6]; M[109][97]=c[17]; M[109][102]=c[2]; M[109][104]=c[19]; M[109][106]=c[18]; M[109][113]=c[7];
-	M[110][7]=u[3]; M[110][30]=a[5]; M[110][34]=a[7]; M[110][43]=a[15]; M[110][45]=a[11]; M[110][49]=a[6]; M[110][54]=b[7]; M[110][63]=b[11]; M[110][67]=b[1]; M[110][69]=b[10]; M[110][71]=b[15]; M[110][75]=b[5]; M[110][76]=b[6]; M[110][99]=c[7]; M[110][100]=c[15]; M[110][104]=c[1]; M[110][107]=c[5]; M[110][110]=c[10]; M[110][112]=c[11]; M[110][119]=c[6];
-	M[111][18]=u[2]; M[111][35]=a[20]; M[111][36]=a[13]; M[111][50]=a[1]; M[111][53]=a[9]; M[111][80]=b[1]; M[111][82]=b[9]; M[111][83]=b[20]; M[111][84]=b[13]; M[111][86]=c[1]; M[111][87]=c[9]; M[111][88]=c[13]; M[111][118]=c[20];
-	M[112][19]=u[2]; M[112][31]=a[1]; M[112][32]=a[9]; M[112][33]=a[13]; M[112][34]=a[20]; M[112][36]=a[19]; M[112][50]=a[10]; M[112][53]=a[4]; M[112][54]=b[20]; M[112][58]=b[1]; M[112][59]=b[13]; M[112][61]=b[9]; M[112][80]=b[10]; M[112][82]=b[4]; M[112][84]=b[19]; M[112][86]=c[10]; M[112][87]=c[4]; M[112][88]=c[19]; M[112][99]=c[20]; M[112][115]=c[1]; M[112][116]=c[9]; M[112][117]=c[13];
-	M[113][31]=a[9]; M[113][32]=a[13]; M[113][33]=a[20]; M[113][48]=a[10]; M[113][50]=a[4]; M[113][53]=a[19]; M[113][58]=b[9]; M[113][59]=b[20]; M[113][61]=b[13]; M[113][80]=b[4]; M[113][81]=b[10]; M[113][82]=b[19]; M[113][85]=c[10]; M[113][86]=c[4]; M[113][87]=c[19]; M[113][115]=c[9]; M[113][116]=c[13]; M[113][117]=c[20];
-	M[114][31]=a[13]; M[114][32]=a[20]; M[114][48]=a[4]; M[114][50]=a[19]; M[114][58]=b[13]; M[114][61]=b[20]; M[114][80]=b[19]; M[114][81]=b[4]; M[114][85]=c[4]; M[114][86]=c[19]; M[114][115]=c[13]; M[114][116]=c[20];
-	M[115][31]=a[20]; M[115][48]=a[19]; M[115][58]=b[20]; M[115][81]=b[19]; M[115][85]=c[19]; M[115][115]=c[20];
-	M[116][24]=u[2]; M[116][29]=a[13]; M[116][30]=a[20]; M[116][37]=a[11]; M[116][38]=a[3]; M[116][39]=a[2]; M[116][50]=a[15]; M[116][52]=a[9]; M[116][53]=a[18]; M[116][73]=b[9]; M[116][74]=b[13]; M[116][75]=b[20]; M[116][77]=b[11]; M[116][78]=b[3]; M[116][79]=b[2]; M[116][80]=b[15]; M[116][82]=b[18]; M[116][86]=c[15]; M[116][87]=c[18]; M[116][92]=c[3]; M[116][93]=c[9]; M[116][94]=c[13]; M[116][96]=c[2]; M[116][98]=c[11]; M[116][107]=c[20];
-	M[117][29]=a[20]; M[117][37]=a[3]; M[117][38]=a[2]; M[117][48]=a[15]; M[117][50]=a[18]; M[117][52]=a[13]; M[117][73]=b[13]; M[117][74]=b[20]; M[117][77]=b[3]; M[117][78]=b[2]; M[117][80]=b[18]; M[117][81]=b[15]; M[117][85]=c[15]; M[117][86]=c[18]; M[117][92]=c[2]; M[117][93]=c[13]; M[117][94]=c[20]; M[117][98]=c[3];
-	M[118][27]=a[13]; M[118][28]=a[20]; M[118][31]=a[4]; M[118][32]=a[19]; M[118][48]=a[14]; M[118][50]=a[8]; M[118][55]=b[13]; M[118][57]=b[20]; M[118][58]=b[4]; M[118][61]=b[19]; M[118][80]=b[8]; M[118][81]=b[14]; M[118][85]=c[14]; M[118][86]=c[8]; M[118][113]=c[13]; M[118][114]=c[20]; M[118][115]=c[4]; M[118][116]=c[19];
-	M[119][27]=a[20]; M[119][31]=a[19]; M[119][48]=a[8]; M[119][55]=b[20]; M[119][58]=b[19]; M[119][81]=b[8]; M[119][85]=c[8]; M[119][113]=c[20]; M[119][115]=c[19];
-*/
 	return M.t();
 }
 
 cv::Mat dls::Hessian(const double s[])
 {
-
 	// the vector of monomials is
 	// m = [ const ; s1^2 * s2 ; s1 * s2 ; s1 * s3 ; s2 * s3 ; s2^2 * s3 ; s2^3 ; ...
 	//       s1 * s3^2 ; s1 ; s3 ; s2 ; s2 * s3^2 ; s1^2 ; s3^2 ; s2^2 ; s3^3 ;   ...
@@ -734,51 +614,37 @@ cv::Mat dls::Hessian(const double s[])
 	Hs3[14]=0; Hs3[15]=3*s[2]*s[2]; Hs3[16]=s[0]*s[1]; Hs3[17]=0; Hs3[18]=s[0]*s[0]; Hs3[19]=0;
 
 	// fill Hessian matrix
-	cv::Mat H(3, 3, z.depth());
-	H.at<double>(0,0) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs1)).at<double>(0,0);
-	H.at<double>(0,1) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs2)).at<double>(0,0);
-	H.at<double>(0,2) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs3)).at<double>(0,0);
+	cv::Mat H(3, 3, CV_64F);
+	H.at<double>(0,0) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+	H.at<double>(0,1) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+	H.at<double>(0,2) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-	H.at<double>(1,0) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs1)).at<double>(0,0);
-	H.at<double>(1,1) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs2)).at<double>(0,0);
-	H.at<double>(1,2) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs3)).at<double>(0,0);
+	H.at<double>(1,0) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+	H.at<double>(1,1) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+	H.at<double>(1,2) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-	H.at<double>(2,0) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs1)).at<double>(0,0);
-	H.at<double>(2,1) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs2)).at<double>(0,0);
-	H.at<double>(2,2) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, z.depth(), &Hs3)).at<double>(0,0);
+	H.at<double>(2,0) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+	H.at<double>(2,1) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+	H.at<double>(2,2) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-	return H; // OK, is symmetric
+	return H;
 }
 
-bool dls::positive_eigenvalues(const cv::Mat& eigenvalues)
+cv::Mat dls::cayley2rotbar(const cv::Mat& s)
 {
-	return eigenvalues.at<double>(0) > 0 &&
-	       eigenvalues.at<double>(1) > 0 &&
-	       eigenvalues.at<double>(2) > 0;
+	double s_mul1 = cv::Mat(s.t()*s).at<double>(0,0);
+	cv::Mat s_mul2 = s*s.t();
+	cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
+
+	return cv::Mat( eye.mul(1.-s_mul1) + skewsymm(&s).mul(2.) + s_mul2.mul(2.) ).t();
 }
 
-cv::Mat dls::cayley2rotbar(const double s[])
+cv::Mat dls::skewsymm(const cv::Mat * X1)
 {
-	cv::Mat s_mat(3, 1, z.depth(), &s); // s -> 3x1
-	double s_mul1 = cv::Mat(s_mat.t()*s_mat).at<double>(0,0);
-	cv::Mat s_mul2 = s_mat*s_mat.t();
-	cv::Mat eye = cv::Mat::eye(3, 3, z.depth());
-	return cv::Mat( eye.mul(1.-s_mul1) + skewsymm(s).mul(2.) + s_mul2.mul(2.) ).t();
-}
-
-cv::Mat dls::skewsymm(const double X1[])
-{
-	return (cv::Mat_<double>(3,3) << 0, -X1[2], X1[1], X1[2], 0, -X1[0], -X1[1], X1[0], 0);
-}
-
-bool dls::is_empty(const cv::Mat * M)
-{
-	cv::MatConstIterator_<double> it = M->begin<double>(), it_end = M->end<double>();
-	for(; it != it_end; ++it)
-	{
-		if(*it < 0) return false;
-	}
-	return true;
+	cv::MatConstIterator_<double> it = X1->begin<double>();
+	return (cv::Mat_<double>(3,3) <<        0, -*(it+2),  *(it+1),
+									  *(it+2),        0, -*(it+0),
+									 -*(it+1),  *(it+0),       0);
 }
 
 cv::Mat dls::rotx(const double t)
@@ -807,19 +673,31 @@ cv::Mat dls::rotz(const double t)
 
 cv::Mat dls::mean(const cv::Mat& M)
 {
-	cv::Mat m = cv::Mat::zeros(3, 1, p.depth());
+	cv::Mat m = cv::Mat::zeros(3, 1, CV_64F);
 	for (int i = 0; i < M.cols; ++i) m += M.col(i);
 	return m.mul(1./(double)M.cols);
 }
 
-double dls::min_val(const std::vector<double>& values)
+bool dls::is_empty(const cv::Mat * M)
 {
-	double min = std::numeric_limits<double>::infinity();
-
-	std::vector<double>::const_iterator iter = values.begin();
-	for( ; iter != values.end() ; iter++)
+	cv::MatConstIterator_<double> it = M->begin<double>(), it_end = M->end<double>();
+	for(; it != it_end; ++it)
 	{
-		if(*iter < min) min = *iter;
+		if(*it < 0) return false;
 	}
-	return min;
+	return true;
 }
+
+bool dls::positive_eigenvalues(const cv::Mat * eigenvalues)
+{
+	cv::MatConstIterator_<double> it = eigenvalues->begin<double>();
+	return *(it) > 0 && *(it+1) > 0 && *(it+2) > 0;
+}
+
+
+
+
+
+
+
+
diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h
index a586d1e9da..a8250fa5c0 100644
--- a/modules/calib3d/src/dls.h
+++ b/modules/calib3d/src/dls.h
@@ -12,52 +12,58 @@ public:
 	dls(const cv::Mat& opoints, const cv::Mat& ipoints);
 	~dls();
 
-	void compute_pose(cv::Mat& R, cv::Mat& t);
+	bool compute_pose(cv::Mat& R, cv::Mat& t);
 
 private:
 
-	template <typename OpointType, typename O, typename IpointType, typename I>
+	// initialisation
+	template <typename OpointType, typename IpointType>
 	void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
 	{
 		for(int i = 0; i < N; i++)
 		{
-			p.at<O>(0,i) = opoints.at<OpointType>(0,i).x;
-			p.at<O>(1,i) = opoints.at<OpointType>(0,i).y;
-			p.at<O>(2,i) = opoints.at<OpointType>(0,i).z;
+			p.at<double>(0,i) = opoints.at<OpointType>(0,i).x;
+			p.at<double>(1,i) = opoints.at<OpointType>(0,i).y;
+			p.at<double>(2,i) = opoints.at<OpointType>(0,i).z;
 
-			z.at<I>(0,i) = ipoints.at<IpointType>(0,i).x;
-			z.at<I>(1,i) = ipoints.at<IpointType>(0,i).y;
-			z.at<I>(2,i) = (I)1;
+			z.at<double>(0,i) = ipoints.at<IpointType>(0,i).x;
+			z.at<double>(1,i) = ipoints.at<IpointType>(0,i).y;
+			z.at<double>(2,i) = (double)1;
 		}
 	}
 
 	void norm_z_vector();
+
+	// main algorithm
+	void run_kernel(const cv::Mat& pp);
 	void build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D);
 	void compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
 			                                     cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag);
-	double min_val(const std::vector<double>& values);
+	void fill_coeff(const cv::Mat * D);
+
+	// useful functions
+	cv::Mat LeftMultVec(const cv::Mat& v);
+	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
+			            const std::vector<double>& c, const std::vector<double>& u);
+	cv::Mat Hessian(const double s[]);
+	cv::Mat cayley2rotbar(const cv::Mat& s);
+	cv::Mat skewsymm(const cv::Mat * X1);
+
+	// extra functions
 	cv::Mat rotx(const double t);
 	cv::Mat roty(const double t);
 	cv::Mat rotz(const double t);
 	cv::Mat mean(const cv::Mat& M);
-	void fill_coeff(const cv::Mat * D);
-	cv::Mat LeftMultVec(const cv::Mat& v);
-	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
-			            const std::vector<double>& c, const std::vector<double>& u);
-	bool positive_eigenvalues(const cv::Mat& eigenvalues);
-	cv::Mat Hessian(const double s[]);
-	cv::Mat cayley2rotbar(const double s[]);
-	cv::Mat skewsymm(const double X1[]);
 	bool is_empty(const cv::Mat * v);
-	void run_kernel(const cv::Mat& pp);
+	bool positive_eigenvalues(const cv::Mat * eigenvalues);
+
 
 	cv::Mat p, z;		// object-image points
 	int N;				// number of input points
-	std::vector<double> f1coeff, f2coeff, f3coeff, cost_;
-	std::vector<cv::Mat> C_est_, t_est_;	// vector to store candidate
-	cv::Mat C_est__, t_est__;	// best found solution
-	double cost__;
-
+	std::vector<double> f1coeff, f2coeff, f3coeff, cost_; // coefficient for coefficients matrix
+	std::vector<cv::Mat> C_est_, t_est_;	// optimal candidates
+	cv::Mat C_est__, t_est__;				// optimal found solution
+	double cost__;							// optimal found solution
 };
 
 #endif // DLS_H
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 2cfb72e23d..4c4ef36301 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -49,6 +49,11 @@
 #include <iostream>
 using namespace cv;
 
+void MatrixSize(const cv::Mat& mat)
+{
+	cout << mat.rows << "x" << mat.cols << endl;
+}
+
 bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
                   InputArray _cameraMatrix, InputArray _distCoeffs,
                   OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess, int flags )
@@ -96,23 +101,16 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     }
     else if (flags == DLS)
     {
-    	std::cout << "DLS" << std::endl;
     	cv::Mat undistortedPoints;
-    	//cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+    	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+
+    	dls PnP(opoints, undistortedPoints);
 
     	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
-
-    	//dls PnP(opoints, undistortedPoints);
-    	dls PnP(opoints, ipoints); // FOR TESTING
-
-    	PnP.compute_pose(R, tvec);
-
-    	cout << "after dls compute pose" << endl;
-
-    	//TODO: DO SOMETHING WITH R and t
-        //cv::Rodrigues(R, rvec);
-
-    	return true;
+    	bool result = PnP.compute_pose(R, tvec);
+        if (result)
+        	cv::Rodrigues(R, rvec);
+        return result;
     }
     else
         CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P or CV_EPNP");