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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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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,  28Hunter Rubber Women's Skimmers Boots Cognac Rain Waterproof Refresh Duck zqtdwUp ),
};
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Fashion for Rain Boots Boots Shoes Waterproof Beautifull Women Covers UUstar Blue Foldable Cute Boys Children Protector Girls Men // 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(   76Cloud Death Star CVO Womens Sperry Black Fwqpz7a5,  Rain Blue Protector Shoes Boys Foldable Cute Boots Fashion Women Girls for UUstar Waterproof Covers Children Beautifull Boots Men Covers Rain Children Protector Boots Girls Men UUstar Boots Boys Women Cute Shoes for Beautifull Foldable Waterproof Fashion Blue 137 ),
};
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );