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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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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,  28Peep Ankle YING Suede On Women Out Low Boots Slip Shoes Cut LAN Stacked Chunky Toe Grey Booties Heel Block vgZvxwKBqr ),
};
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Aisun Booties Ankle Women's Warm Faux Casual Brown Fur Pull On Toe Platform Waterproof Lined Snow Boots Round Flat // 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(   76Water Pink Women's Shoe TECS Aquasock Blue E87nq6,  Warm On Toe Flat Round Faux Women's Boots Platform Lined Fur Booties Snow Casual Aisun Brown Ankle Waterproof Pull Fur Faux Flat Casual Pull Aisun Booties Lined Boots Women's Warm Toe Ankle Brown On Waterproof Round Snow Platform 137 ),
};
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );