Calculates a coordinate frame which maps one set of coordinates into another. Both sets are assumed to represent the same set of planar points seen from two different angles of view. As the points lie on XY-plane, the Z-coordinates are assumed to be zero. At least 9 points are needed in both sets of points.

For example, the frame can be be used as an input to replace coordinate frame that replaces the existing coordinate system of an image with a new one.


  • points1: 2D coordinates of the points in the first view.

  • points2: 2D coordinates of the points in the second view.


  • frame: A coordinate frame F that describes the mapping between the input points: points2 = F points1.

  • errorMeasure: A measure of how accurate the mapping is. The smaller the value, the better. The value is infinite if the calculation fails completely.