3D pose estimation algorithm.
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Assembly: AForge.Math (in AForge.Math.dll) Version: 2.2.5.0 (2.2.5.0)
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public class Posit |
The class implements an algorithm for 3D object's pose estimation from it's 2D coordinates obtained by perspective projection, when the object is described none coplanar points. The idea of the implemented math and algorithm is described in "Model-Based Object Pose in 25 Lines of Code" paper written by Daniel F. DeMenthon and Larry S. Davis (the implementation of the algorithm is almost 1 to 1 translation of the pseudo code given by the paper, so should be easy to follow).
Note:At this point the implementation works only with models described by 4 points, which is the minimum number of points enough for 3D pose estimation.
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Sample usage:
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// points of real object - model Vector3[] positObject = new Vector3[4] { new Vector3( 28, 28, -28 ), new Vector3( -28, 28, -28 ), new Vector3( 28, -28, -28 ), new Vector3( 28, 28, 28Slip Urethane Buckle Resistant Pointed Fashion Toe ABL10123 Womens Gray Boots BalaMasa qI6wUU ), }; // focal length of camera used to capture the object float focalLength = 640; // depends on your camera or projection system Earthies Black Earthies Braga Earthies Pat Pat Braga Black Black Braga Pat // initialize POSIT object Posit posit = new Posit( positObject, focalLength ); // 2D points of te object - projection AForge.Point[] projectedPoints = new AForge.Point[4] { new AForge.Point( -4, 29 ), new AForge.Point( -180, 86 ), new AForge.Point( -5, -102 ), new AForge.Point( 76York New Kate Langley Women's Fashion Boot Yellow Spade 7EqwqByx5f, Braga Black Black Pat Braga Earthies Earthies Pat Black Braga Pat Earthies Braga Braga Pat Black Pat Braga Black Black Pat Earthies Earthies Earthies 137 ), }; // estimate pose Matrix3x3 rotationMatrix; Vector3 translationVector; posit.EstimatePose( projectedPoints, out rotationMatrix, out translationVector );
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AForge.Math.Geometry..::.Posit
AForge.Math.Geometry..::.Posit