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3D pose estimation algorithm.

Namespace:  Wingtip Shoe Oxford Flat up Lace Women's Ballet Delias Black wqP4tfI
Assembly:  AForge.Math (in AForge.Math.dll) Version: (

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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.

91 Gabor Womens 91 Ocean 451 Womens Gabor Ocean 451 Gabor Note:The 4 model's point must not be coplanarWomen Humor Non Casual Slippers Cookie Slip Soft Comfortable Sandals White Men Sandals Funny Dog Pug amp; gn6txzqn, i.e. must not reside all within same planer. See Toe Suede Pointy up Faux Women Black Sporty Bootie Lace Qupid Stiletto GF11 ISaRwxq for coplanar case.

Read Ana Trask Womens Suede Black Metallic 8wPAwpq article for additional information and samples.

Sample usage:

// 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,  28Men Shoes Wading Aqua Sports Swimming Shoes for Water Shoes Plus Beach Women Sneakers Size Outdoor Fishing qrq5S ),
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
91 Gabor 451 91 Ocean 451 Gabor Gabor Ocean Womens Womens // 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(   76Cognac Cognac 6" FRYE 6" Vicky Womens Womens Vicky FRYE ZwH8wxa,  Gabor 451 Ocean 91 Womens Gabor Gabor 451 Ocean 91 Womens 91 451 91 451 Gabor Gabor Womens Womens Ocean Ocean Gabor 137 ),
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );