Posit Algortithm, OpenGL + OpenCV libraries

EDIT:
I am back tracking and scaling down the problem that I'll be working on this week to detect the orientation of a plane, given known points, as I mistook the scope of this problem's difficulty level.

I've incorporated openGL libraries in order to allow me to visually track the progress of my work with pose estimation, and have currently integrated a posit demo found on willow garage.


I've also created an improvised "AR target" with a valid detected face image, along with 3 points to use as control points for orientation, using the concept of thresholding to derive the source points to be used by the Posit algorithm for pose estimation.


I am currently reading up on the Posit Algorithm (http://www.cfar.umd.edu/~daniel/daniel_papersfordownload/Pose25Lines.pdf), described by Daniel F DeMenthon and Larry S Davis.

A concern arises at the start of the first paragraph:
"We assume that we can detect and match in the image four or more noncoplanar feature points of the object and that we know their relative geometry on the object "

An alternative that I plan to look into after I finish reading the paper is located at: http://nghiaho.com/?page_id=576 , which describes a library for Robust Pose Estimation from a Planar Target