Estimate pose of a model from it's projected 2D coordinates.

Namespace:  AForge.Math.Geometry
Assembly:  AForge.Math (in AForge.Math.dll) Version: 2.2.5.0 (2.2.5.0)

Syntax

C#
public void EstimatePose(
	Point[] points,
	out Matrix3x3 rotation,
	out Vector3 translation
)

Parameters

points
Type: array< AForge..::.Point >[]()[]
4 2D points of the model's projection.
rotation
Type: AForge.Math..::.Matrix3x3 %
Gets best estimation of object's rotation.
translation
Type: AForge.Math..::.Vector3 %
Gets best estimation of object's translation.

Remarks

Because of the Coplanar POSIT algorithm's nature, it provides two pose estimations, which are valid from the algorithm's math point of view. For each pose an error is calculated, which specifies how good estimation fits to the specified real 2D coordinated. The method provides the best estimation through its output parameters rotation and translation. This may be enough for many of the pose estimation application. For those, who require checking the alternate pose estimation, it can be obtained using AlternateEstimatedRotation and AlternateEstimatedTranslation properties. The calculated error is provided for both estimations through BestEstimationError and AlternateEstimationError properties.

Exceptions

ExceptionCondition
System..::.ArgumentException4 points must be be given for pose estimation.

See Also