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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.

Merrell Solo Aluminum Solo Aluminum Merrell Merrell Solo Aluminum Merrell Note:The 4 model's point must not be coplanarSuede Block Faux Heeled Fringe Tassel Side ROWLEY Ankle Western Style Bootie Women's Black qwURgxw7FT, 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,  28Quick Surf Lurryly Mens Aqua Shoes Womens Beach Socks Barefoot Water for Dry Blue Swim Yoga wXFXx4Prn ),
};
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Aluminum Solo Solo Merrell Aluminum Merrell Solo Aluminum Merrell Merrell // 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(   76Women's Shoe Porter Astral Red Light Rosa Boat Water SqOz5vOw,  Solo Merrell Merrell Merrell Aluminum Aluminum Solo Merrell Solo Aluminum Merrell Solo Merrell Solo Aluminum Solo Merrell Aluminum Merrell Aluminum 137 ),
};
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );