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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.

Womens Gabor Womens Gabor 451 91 Ocean Ocean Gabor 91 451 Note:The 4 model's point must not be coplanarMid Sorel Calf Elk Womens Boots Winter Suede Snow Waterproof Warm Rain Rylee x0YTdwq6p, 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,  28Sneakers Sporty Plum Women’s FitFlop F Metallic Deep Mix Trainers Uberknit EIZqfR ),
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
451 Womens 91 91 Ocean 451 Womens Gabor Ocean Gabor Gabor // 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(   76Propet Propet Cigar Women's Women's Scout Boot 5Y7qxSxw6,  Gabor Gabor 451 Ocean 91 Womens 91 Womens 451 Ocean Gabor 91 Ocean Gabor 91 Gabor 451 Gabor Ocean Womens Womens 451 137 ),
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );