Hi Vijay,

Thank you for pointing to this code. I have quickly gone through it and 
one thing that I do not understand is that one must give the desired 
destination frame, but I did not see any mention of the changing input 
frame, typically the one of the moving part of the scanner. Should the 
input data be already transformed?

Kind regards,

Stéphane

-- 
Dr Stéphane Magnenat
http://stephane.magnenat.net