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  /external/opencv/cvaux/src/
cvlevmartrif.cpp 65 /* Jacobian computation for trifocal case */
66 void icvJacobianFunction_ProjTrifocal(const CvMat *vectX,CvMat *Jacobian)
72 if( vectX == 0 || Jacobian == 0 )
77 if( !CV_IS_MAT(vectX) || !CV_IS_MAT(Jacobian) )
90 if( Jacobian->rows == numPoints*6 || Jacobian->cols != 36+numPoints*4 )
92 CV_ERROR( CV_StsUnmatchedSizes, "Size of Jacobian is not correct it must be 6*numPoints x (36+numPoints*4)" );
95 /* Computed Jacobian in a given point */
100 /* For N points 4D we have Jacobian 2N x (12*3+4N) */
103 /* Fill Jacobian matrix *
    [all...]
  /external/ceres-solver/scripts/
ceres-solver.spec 41 - Threaded Jacobian evaluators and linear solvers

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