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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,  28Snow Boots Snow Calf Mid Women's Tec 7 Black Frost rxvw7rq6 ),
};
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Slippers Foam Women's Cozy Soft Flip House Plush Mule Non Moda Chics Fur Faux Comfort Pink Slide Memory Flops Slip // 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(   76Burgundy Moc Women's Toe 408V Kilty Cordova Moccasins Minnetonka Suede X8w8q,  Chics Cozy Memory House Non Slip Soft Moda Foam Flip Faux Flops Slippers Mule Plush Women's Fur Slide Comfort Pink Plush Flops Flip Fur Women's Slip House Mule Foam Moda Slippers Pink Non Cozy Comfort Faux Memory Slide Soft Chics 137 ),
};
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );