Find corresponding points between current frame and previous frame Method Used : Projective Point-Plane data association Return : vector of pairs of s

Creates the pose from the rotation angles and translation vector obtained after solving the linear system Unit Rotation matrices created from the angl

Checks whether the angle between the two normals is within a certain threshold or not

Checks whether the Euclidean distance between two points is within a certain threshold or not

SAMPLE CODE: Here's sample code for old OpenGL; it's a lot more complicated to make work on modern APIs, and that's your problem.

Creates a linear system of equations fulfilling the constraints of point-to-point error metric Solves the created linear system for the camera pose