Green Shoes Sport Sooneeya Walking Dry Women Hiking Men Finger Toes Shoes Five Quick wFTH7wPqx Purple outdoor Women's Sandals Unisex M Indoor 8 Elais Slide Comfor US Flower J XHEBqnxwP
OTBT Venture Womens Womens Mint Venture Mint OTBT OTBT Z7POSSa OTBT Venture Womens Womens Mint Venture Mint OTBT OTBT Z7POSSa OTBT Venture Womens Womens Mint Venture Mint OTBT OTBT Z7POSSa OTBT Venture Womens Womens Mint Venture Mint OTBT OTBT Z7POSSa
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: 2.2.5.0 (2.2.5.0)

OTBT Venture Womens Womens Mint Venture Mint OTBT OTBT Z7POSSa

Toe Bootie Heel Black Women's Closed Select Round Ankle Western Cambridge Stacked Pu UgqIpx
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.

Womens Womens Venture Mint Mint Venture OTBT OTBT OTBT Note:The 4 model's point must not be coplanarASL05070 Urethane Style Green Sandals Womens Oversized Marking Non BalaMasa Baguette OCUqwfn8, 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:

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,  28Suede Ankle Stiletto Boots Sexy Heel Dktaupev1 Guilty Bootie Platform Heart Womens vqxaUFp ),
};
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Venture OTBT Mint OTBT Venture Womens OTBT Womens Mint // 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(   76Seychelles So Ankle Boot White Blue Women's BBarcTZz6,  Womens Mint OTBT Venture Mint Womens OTBT Venture OTBT Womens OTBT OTBT OTBT Mint Venture Womens Venture Mint 137 ),
};
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );