function Par = RTKDiter(XY,pole)

%--------------------------------------------------------------------------
%  
%     RTKD (Rusu-Tico-Kuosmanen-Delp) iterative circle fit
%   C. Rusu, M. Tico, P. Kuosmanen, and E. J. Delp,
%   "Classical geometrical approach to circle fitting—review and new developments",
%    J. Electron. Imaging, Vol. 12, pp. 179-193, (2003)
%
%     Input:  XY(n,2) is array of coordinates of n points <XY(i,1),XY(i,2)>
%
%     Output: Par = [a b R] is the fitting circle:
%                           center (a,b) and radius R
%
%     This is a non-iterative version
%
%--------------------------------------------------------------------------

epsilon = 0.0000001;

pole1 = pole;
pole2 = pole;

for iter = 1:50
    Par = RTKD(XY,pole2);
    pole3 = 2*Par(1:2)-pole2;

    if norm(pole3-pole1) < epsilon
       break;
    end;

    pole1 = pole2;
    pole2 = pole3;
end;

end   %  RTKDiter