POSIT Namespace Reference

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)

Detailed Description

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.

Function Documentation

bool POSIT::POSIT	(	const Vec3d *	pPoints3D,
		const Vec2d *	pPoints2D,
		int	nPoints,
		Mat3d &	R,
		Vec3d &	t,
		const CCalibration *	pCalibration,
		int	nIterations = 20
	)

Definition at line 74 of file POSIT.cpp.