code: 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);
  	}
docs: This computes the v_ij vector found in the paper.