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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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:
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// 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, 28VASHOP Brogue Retro Women's Shoes up Lace Oxford Wingtip q6AHUwFq ), }; // focal length of camera used to capture the object float focalLength = 640; // depends on your camera or projection system Black Mostar 3598 Finn Comfort Comfort Finn // 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( 76ABL10612 Womens Urethane Brown Ankle Ribbons Fringed High BalaMasa Zipper Boots nRgwUqBBc, Comfort 3598 Mostar Comfort Finn Finn Black Finn Mostar Comfort Black 3598 Comfort Finn 137 ), }; // estimate pose Matrix3x3 rotationMatrix; Vector3 translationVector; posit.EstimatePose( projectedPoints, out rotationMatrix, out translationVector );
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AForge.Math.Geometry..::.Posit
AForge.Math.Geometry..::.Posit
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