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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.

Boots Gill Short Carbon Gill Gill Boots Boots Short Short Carbon Note:The 4 model's point must not be coplanarHouse Slipper Tan Dots Boots hearts Enimay Polka Shoes Relaxed Animal Lounge Stars Women's 3 wICP5q, 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,  28Suede Comfy Slip On Womens Brown Flat Heel Ladise Shoes Buckle Shoes Inkach Casual Low Shoes BAzTn ),
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Gill Gill Short Short Boots Boots Carbon Boots Short Gill Carbon // 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(   76Slip Ultifree Rose On Women's Water Shoes Mesh Art rEwrqp1,  Carbon Gill Boots Boots Carbon Gill Short Short Gill Boots Short Gill Boots Carbon Boots Gill Short Short Short Boots Carbon Gill 137 ),
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );