cvPOSIT Method (positObject, imagePoints, focalLength, criteria, rotationMatrix, translationVector)

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Implements POSIT algorithm. Image coordinates are given in a camera-related coordinate system. The focal length may be retrieved using camera calibration functions. At every iteration of the algorithm new perspective projection of estimated pose is computed.

Declaration Syntax

Visual Basic

Visual C++

public static void cvPOSIT(
	IntPtr positObject,
	float[,] imagePoints,
	double focalLength,
	MCvTermCriteria criteria,
	float[] rotationMatrix,
	float[] translationVector
)

Public Shared Sub cvPOSIT ( _
	positObject As IntPtr, _
	imagePoints As Single(,), _
	focalLength As Double, _
	criteria As MCvTermCriteria, _
	rotationMatrix As Single(), _
	translationVector As Single() _
)

public:
static void cvPOSIT(
	IntPtr positObject, 
	array<float,2>^ imagePoints, 
	double focalLength, 
	MCvTermCriteria criteria, 
	array<float>^ rotationMatrix, 
	array<float>^ translationVector
)

Parameters

positObject (IntPtr): Pointer to the object structure

imagePoints (array< Single ,2>[,](,)[,]): 2D array to the object points projections on the 2D image plane, the second dimension must be 2.

focalLength (Double): Focal length of the camera used

criteria (MCvTermCriteria): Termination criteria of the iterative POSIT algorithm. The parameter criteria.epsilon serves to stop the algorithm if the difference is small.

rotationMatrix (array< Single >[]()[]): A vector which contains the 9 elements of the 3x3 rotation matrix

translationVector (array< Single >[]()[]): Translation vector (3x1)

Remarks

Difference norm between two projections is the maximal distance between corresponding points.

Assembly: Emgu.CV (Module: Emgu.CV) Version: 1.5.0.0 (1.5.0.0)