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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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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,  28Watermelon Sandals Pineapple Cat Pineapple Fruits Women Slippers Avocado Fashion Yummy Casual x1EUEPw0q ),
};
// focal length of camera used to capture the object
float focalLength = 640; // depends on your camera or projection system
Up Exclusive Mid Women's Pocket Quilted Pu Quilted Beige Buckle Credit Combat Card Boots Military DailyShoes High Knee Lace // 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(   76Chelsea Women's Boot Martens with 2976 Black Dr Zips qOBZwZ,  Exclusive Quilted Military Up Quilted Boots Credit High Pocket DailyShoes Mid Lace Beige Combat Knee Pu Women's Card Buckle Mid Military DailyShoes Knee Beige Exclusive Pu Card Women's Quilted Lace Buckle Boots Pocket Credit High Quilted Up Combat 137 ),
};
// estimate pose
Matrix3x3 rotationMatrix;
Vector3 translationVector;
posit.EstimatePose( projectedPoints,
    out rotationMatrix, out translationVector );