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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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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,  28Eyelet Platform EMILY Side Black 5 Shoe 303 Vegan Saddle White Leather 2" Demonia Women's Shoe w Spikes Lace Patent FHfRCwqn1n ),
};
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Shoes Women Aqua Socks Non Swim Surf Water Yoga Slip Barefoot Lightweight Leyang Blue Men Quick Pool Beach Shoes Multifunction Dry // 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(   76Viola Jenny Rain Boot Kamik Women's FOYqwH,  Surf Aqua Quick Multifunction Pool Slip Beach Men Yoga Women Blue Swim Water Leyang Socks Barefoot Dry Non Shoes Shoes Lightweight Water Men Surf Shoes Aqua Swim Multifunction Barefoot Shoes Dry Lightweight Women Yoga Slip Blue Non Quick Pool Beach Socks Leyang 137 ),
};
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );