Implementation of the (POSIT) algorithm. More...
Functions | |
| bool | POSIT (const Vec3d *pPoints3D, const Vec2d *pPoints2D, int nPoints, Mat3d &R, Vec3d &t, const CCalibration *pCalibration, int nIterations=20) |
Implementation of the (POSIT) algorithm.
The ICP algorithm has been first published in (D.F. DeMenthon and L.S. Davis, "Model-Based Object Pose in 25 Lines of Code", 1992).
This algorithm fails in the case of planar points sets (objects). Use CObjectPose for planar point sets.
| bool POSIT::POSIT | ( | const Vec3d * | pPoints3D, |
| const Vec2d * | pPoints2D, | ||
| int | nPoints, | ||
| Mat3d & | R, | ||
| Vec3d & | t, | ||
| const CCalibration * | pCalibration, | ||
| int | nIterations = 20 |
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| ) |