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Messages - Anhar Miah

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wow, excellent work!

Can you please explain the maths and how you calculated the 6DOF? if its not too much to ask could you also upload an diagram showing the how its calcaulated?

I've been trying to figure out how to do 6DOF (and I couldn't work out how the POSIT algorithm works)
thanks in advanced,

I've been struggling with 6DOF for such a long time, if you could help me out your a star man!


Wiimote Desktop VR/Head Tracking / Re: Coded my own version of this
« on: June 03, 2008, 09:50:56 AM »
Hi, really impressive that you coded your own, I'm in the process my self, I really need help with POSIT  code implementation, would it be possible for you to go through your code, I'll understand if you don't want to.

If you prefer to speak privately then you can email me.

Thank you,


Hey Guys,

My name is Anhar and as a personal project Iíve been trying to build a simple head tracker, after Googling this is the closest Iíve come to it (excluding TrackIR and FreeTrack, since they do not show their source codes)

I need to ask for some guidance, I was trying to code my own program using a webcam (with film filter) and some LEDs.

Iíve broken the problem down as thus far:

(1) Initial Blob detection greyscale line scanning (thresh holding)
(2) Generate Centroid (using intensity weight based method)
(3) Implement POSIT algorithm << --- (This is the problem)

The first two parts I understand how to implement in terms of coding, the last POSIT algorithm is what Iím having trouble with.

I have read up on Daniel DeMenthon papers (POSIT in 25 lines of Code), the problem is I donít understand the maths clearly enough, they donít have a numerical example, and my memory of Matrixes is really fuzzy :D

The bits I do understand thus far, is that one takes the 2d points from the CCD/CMOS in pixels, this is the ďscreen co-ordinatesĒ and then projects this back to reach the real world points, I guess this is the SOP part (Scale orthographic Projection) and then somehow you can then calculate the pose from this which is the POS part (Pose from Orthographic Projection) after that you just iterate to reduce the error.

Can some one please give a step by step Numerical example of how this is calculated, thatís all I need, once I understand that and how its actually calculated I should be able to code it.

Iím sure this would also serve as a tremendous source of help for other wishing to code their own stuff.

Thanking you in advanced


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