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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: 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,  28Leather Black Motorcycle Pardew London Women's Dune Boot D xSwq0YgHp ),
};
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Winter Lined Slippers Fuzzy Unisex Scuff Slippers Genuine Leather Purple Warm House // 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(   76Chunky Suede 34 Heel New Wine Women's Booties Breckelle's HEATHER Ankle Faux wqX7HnSEI,  Genuine Leather Slippers Purple Slippers Lined Unisex Fuzzy Winter Warm Scuff House Winter Fuzzy Slippers Warm Leather Unisex Purple House Genuine Lined Slippers Scuff 137 ),
};
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );