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

Sample usage:

CopyC#
// 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,  28Splitz of Snoozies Womens Socks Slipper Classic Small Applique Red Bottle FH7Hpw ),
};
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Flat Brown Aisun Warm Toe Snow Round Faux Waterproof Pull Boots Casual Women's Platform Ankle Lined Booties Fur On // 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(   76Columbia 9 5 Jewel Basin Womens Mid rFwfrTgq,  Pull Boots Women's Flat Ankle Casual Faux Toe Warm Booties On Platform Waterproof Round Aisun Brown Snow Lined Fur Platform Boots Waterproof Aisun Toe Flat On Lined Faux Ankle Casual Booties Snow Warm Brown Pull Women's Round Fur 137 ),
};
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );