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err is a matrix which contains the distance of a pair of pixel after applying a transformation to them. Using the notation of CvMat above, the median should be computed of all elements in err. Since the CvMat is marked as deprecated, I wanted to rewrite this part using CvMat's C++ counterpart cv::Mat. I did not really find an equivalent pointer based solution but I found one, that gave me same results using a cv::Mat variable.<float>(0, (_numberOfMatches / 2)) : (<float>(0, (_numberOfMatches / 2) - 1) +<float>(0, (_numberOfMatches / 2))*0.5;