Below is a list of changes and improvements made to posest in reverse chronological order:

  • Dec 17, 2021: posest version 1.3 released
    • Added the Lambda Twist P3P solver (unused by default).
    • Added the ability to display inliers in posest_demo.c.
    • Fixed a bug in random number generation in ransac/lqs.
    • A few other minor changes and fixes.

  • Dec 17, 2019: posest version 1.2 released
    • Added a function based on the Triad method for computing the rigid transformation between two corresponding 3D point triplets. This computation arises in P3P and the Triad method is much faster than applying Horn's absolute orientation to just 3 points.
    • Added function sam_PCent() to calculate the estimated camera projection center.
    • Added support for cropped input image coordinates; see argument offsxy in readMatchingPoints().
    • Made a few other minor changes.

  • May 31, 2015: posest version 1.1 released
    • Added MEX wrapper for interfacing with matlab.
    • Improved the sampling of random point sets arising in robust regression.
    • Made a few other minor changes.

  • October 9, 2014: posest version 1.0 released (first public release)