Lines Matching refs:piX
126 double piX[3];
127 piX[0] = X[0]*p[0] + X[1]*p[1] + X[2]*p[2] + X[3]*p[3];
128 piX[1] = X[0]*p[4] + X[1]*p[5] + X[2]*p[6] + X[3]*p[7];
129 piX[2] = X[0]*p[8] + X[1]*p[9] + X[2]*p[10] + X[3]*p[11];
134 double tmp3 = 1/(piX[2]*piX[2]);
136 double tmp1 = -piX[0]*tmp3;
137 double tmp2 = -piX[1]*tmp3;
144 (p[j*4+i]*piX[2]-p[8+i]*piX[j]) * tmp3 );
151 cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+i,X[i]/piX[2]);//x' p1i
155 cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+4+i,X[i]/piX[2]);//y' p2i
