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.

Namespace:  Emgu.CV
Assembly:  Emgu.CV (in Emgu.CV.dll) Version: 2.0.1.0 (2.0.1.0)

Syntax

C#
public static void cvPOSIT(
	IntPtr positObject,
	float[,] imagePoints,
	double focalLength,
	MCvTermCriteria criteria,
	float[] rotationMatrix,
	float[] translationVector
)
Visual Basic (Declaration)
Public Shared Sub cvPOSIT ( _
	positObject As IntPtr, _
	imagePoints As Single(,), _
	focalLength As Double, _
	criteria As MCvTermCriteria, _
	rotationMatrix As Single(), _
	translationVector As Single() _
)
Visual C++
public:
static void cvPOSIT(
	IntPtr positObject, 
	array<float,2>^ imagePoints, 
	double focalLength, 
	MCvTermCriteria criteria, 
	array<float>^ rotationMatrix, 
	array<float>^ translationVector
)

Parameters

positObject
Type: System..::.IntPtr
Pointer to the object structure
imagePoints
Type: array< System..::.Single ,2>[,](,)[,]
2D array to the object points projections on the 2D image plane, the second dimension must be 2.
focalLength
Type: System..::.Double
Focal length of the camera used
criteria
Type: Emgu.CV.Structure..::.MCvTermCriteria
Termination criteria of the iterative POSIT algorithm. The parameter criteria.epsilon serves to stop the algorithm if the difference is small.
rotationMatrix
Type: array< System..::.Single >[]()[]
A vector which contains the 9 elements of the 3x3 rotation matrix
translationVector
Type: array< System..::.Single >[]()[]
Translation vector (3x1)

Remarks

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

See Also