82     int numPoints;  in icvJacobianFunction_ProjTrifocal()  local
83     numPoints = (vectX->rows - 36)/4;  in icvJacobianFunction_ProjTrifocal()
85     if( numPoints < 1 )//!!! Need to correct this minimal number of points  in icvJacobianFunction_ProjTrifocal()
90     if( Jacobian->rows == numPoints*6 || Jacobian->cols != 36+numPoints*4 )  in icvJacobianFunction_ProjTrifocal()
117         for( currProjPoint = 0; currProjPoint < numPoints; currProjPoint++ )  in icvJacobianFunction_ProjTrifocal()
143                             currMatr*numPoints*2+currProjPoint*2+j, 36+currProjPoint*4+i,  in icvJacobianFunction_ProjTrifocal()
151 …           cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+i,X[i]/piX[2]);//x' p1i  in icvJacobianFunction_ProjTrifocal()
152 …           cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2,currMatr*12+8+i,X[i]*tmp1);//x' p3i  in icvJacobianFunction_ProjTrifocal()
155 …       cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+4+i,X[i]/piX[2]);//y' p2i  in icvJacobianFunction_ProjTrifocal()
156 …         cvmSet(Jacobian,currMatr*numPoints*2+currProjPoint*2+1,currMatr*12+8+i,X[i]*tmp2);//y' p3i  in icvJacobianFunction_ProjTrifocal()
197     int numPoints;  in icvFunc_ProjTrifocal()  local
198     numPoints = (vectX->rows - 36)/4;  in icvFunc_ProjTrifocal()
200     if( numPoints < 1 )//!!! Need to correct this minimal number of points  in icvFunc_ProjTrifocal()
205     if( resFunc->rows == 2*numPoints*3 || resFunc->cols != 1 )  in icvFunc_ProjTrifocal()
244     for( currPoint = 0; currPoint < numPoints; currPoint++ )  in icvFunc_ProjTrifocal()
257             cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2,  0,point3D_dat[0]/z);  in icvFunc_ProjTrifocal()
258             cvmSet(resFunc,currMatr*numPoints*2 + currPoint*2+1,0,point3D_dat[1]/z);  in icvFunc_ProjTrifocal()
293     int numPoints;  in icvOptimizeProjectionTrifocal()  local
294     numPoints = resultPoints4D->cols;  in icvOptimizeProjectionTrifocal()
295     if( numPoints < 1 )  in icvOptimizeProjectionTrifocal()
345         if( projPoints[i]->rows != 2 || projPoints[i]->cols != numPoints )  in icvOptimizeProjectionTrifocal()
358     CV_CALL( points4D  = cvCreateMat(4,numPoints,CV_64F) );  in icvOptimizeProjectionTrifocal()
359     CV_CALL( vectorX0  = cvCreateMat(36 + numPoints*4,1,CV_64F) );  in icvOptimizeProjectionTrifocal()
360     CV_CALL( observRes = cvCreateMat(2*numPoints*3,1,CV_64F) );  in icvOptimizeProjectionTrifocal()
361     CV_CALL( optimX    = cvCreateMat(36+numPoints*4,1,CV_64F) );  in icvOptimizeProjectionTrifocal()
379         for( i = 0; i < numPoints; i++ )  in icvOptimizeProjectionTrifocal()
381             cvmSet(observRes,currMatr*numPoints*2+i*2  ,0,cvmGet(projPoints[currMatr],0,i) );/* x */  in icvOptimizeProjectionTrifocal()
382             cvmSet(observRes,currMatr*numPoints*2+i*2+1,0,cvmGet(projPoints[currMatr],1,i) );/* y */  in icvOptimizeProjectionTrifocal()
399     for( currPoint = 0; currPoint < numPoints; currPoint++ )  in icvOptimizeProjectionTrifocal()
423     for( currPoint = 0; currPoint < numPoints; currPoint++ )  in icvOptimizeProjectionTrifocal()
453     int numPoints;  in icvCreateGoodPoints()  local
454     numPoints = points->cols;  in icvCreateGoodPoints()
456     if( numPoints < 1 )  in icvCreateGoodPoints()
473     for( i = 0; i < numPoints; i++)  in icvCreateGoodPoints()
485         for( j = 0; j < numPoints; j++)  in icvCreateGoodPoints()