Lines Matching defs:n_points
841 int n_points = (int)objectPoints.getMat(0).total();
924 cv::Mat J = cv::Mat::zeros(4 * n_points * n_images, 18 + 6 * (n_images + 1), CV_64FC1),
925 e = cv::Mat::zeros(4 * n_points * n_images, 1, CV_64FC1), Jkk, ekk;
935 J.create(4 * n_points * n_images, 18 + 6 * (n_images + 1), CV_64FC1);
936 e.create(4 * n_points * n_images, 1, CV_64FC1);
937 Jkk.create(4 * n_points, 18 + 6 * (n_images + 1), CV_64FC1);
938 ekk.create(4 * n_points, 1, CV_64FC1);
944 Jkk = cv::Mat::zeros(4 * n_points, 18 + 6 * (n_images + 1), CV_64FC1);
955 cv::Mat(cv::Mat((imageLeft - projected).t()).reshape(1, 1).t()).copyTo(ekk.rowRange(0, 2 * n_points));
956 jacobians.colRange(8, 11).copyTo(Jkk.colRange(24 + image_idx * 6, 27 + image_idx * 6).rowRange(0, 2 * n_points));
957 jacobians.colRange(11, 14).copyTo(Jkk.colRange(27 + image_idx * 6, 30 + image_idx * 6).rowRange(0, 2 * n_points));
958 jacobians.colRange(0, 2).copyTo(Jkk.colRange(0, 2).rowRange(0, 2 * n_points));
959 jacobians.colRange(2, 4).copyTo(Jkk.colRange(2, 4).rowRange(0, 2 * n_points));
960 jacobians.colRange(4, 8).copyTo(Jkk.colRange(5, 9).rowRange(0, 2 * n_points));
961 jacobians.col(14).copyTo(Jkk.col(4).rowRange(0, 2 * n_points));
969 cv::Mat(cv::Mat((imageRight - projected).t()).reshape(1, 1).t()).copyTo(ekk.rowRange(2 * n_points, 4 * n_points));
975 dxrdom.copyTo(Jkk.colRange(18, 21).rowRange(2 * n_points, 4 * n_points));
976 dxrdT.copyTo(Jkk.colRange(21, 24).rowRange(2 * n_points, 4 * n_points));
977 dxrdomckk.copyTo(Jkk.colRange(24 + image_idx * 6, 27 + image_idx * 6).rowRange(2 * n_points, 4 * n_points));
978 dxrdTckk.copyTo(Jkk.colRange(27 + image_idx * 6, 30 + image_idx * 6).rowRange(2 * n_points, 4 * n_points));
979 jacobians.colRange(0, 2).copyTo(Jkk.colRange(9 + 0, 9 + 2).rowRange(2 * n_points, 4 * n_points));
980 jacobians.colRange(2, 4).copyTo(Jkk.colRange(9 + 2, 9 + 4).rowRange(2 * n_points, 4 * n_points));
981 jacobians.colRange(4, 8).copyTo(Jkk.colRange(9 + 5, 9 + 9).rowRange(2 * n_points, 4 * n_points));
982 jacobians.col(14).copyTo(Jkk.col(9 + 4).rowRange(2 * n_points, 4 * n_points));
986 for (int i = 0; i < 4 * n_points; i++)
996 Jkk.copyTo(J.rowRange(image_idx * 4 * n_points, (image_idx + 1) * 4 * n_points));
997 ekk.copyTo(e.rowRange(image_idx * 4 * n_points, (image_idx + 1) * 4 * n_points));
