http://www.emgu.com
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: 2.4.10.1935 (2.4.10.1935)

Syntax

C#
public static void cvPOSIT(
	IntPtr positObject,
	float[,] imagePoints,
	double focalLength,
	MCvTermCriteria criteria,
	float[] rotationMatrix,
	float[] translationVector
)
Visual Basic
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
)
F#
static member cvPOSIT : 
        positObject : IntPtr * 
        imagePoints : float32[,] * 
        focalLength : float * 
        criteria : MCvTermCriteria * 
        rotationMatrix : float32[] * 
        translationVector : float32[] -> unit 

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