486           Eigen::Vector3d tempVector2;  in fivept_kneip_main()  local
493             tempVector2 = trans01.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
494             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()
500             tempVector2 = trans02.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
501             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()
507             tempVector2 = trans03.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
508             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()
514             tempVector2 = trans04.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
515             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()
521             tempVector2 = trans12.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
522             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()
528             tempVector2 = trans13.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
529             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()
535             tempVector2 = trans14.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
536             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()
542             tempVector2 = trans23.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
543             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()
549             tempVector2 = trans24.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
550             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()
556             tempVector2 = trans34.cross( finalRotation * f2.col(i) );  in fivept_kneip_main()
557             if( tempVector1.dot(tempVector2) < 0 )  in fivept_kneip_main()