Accord.Math.Geometry.CoplanarPosit.CoplanarPosit C# (CSharp) Method

        public CoplanarPosit( Vector3[] model, float focalLength )
        {
            if ( model.Length != 4 )
            {
                throw new ArgumentException( "The model must have 4 points." );
            }

            this.focalLength = focalLength;
            modelPoints = (Vector3[]) model.Clone( );

            // compute model vectors
            modelVectors = Matrix3x3.CreateFromRows(
                model[1] - model[0],
                model[2] - model[0],
                model[3] - model[0] );

            // compute pseudo inverse of the model matrix
            Matrix3x3 u, v;
            Vector3 e;

            modelVectors.SVD( out u, out e, out v );
            modelPseudoInverse = v * Matrix3x3.CreateDiagonal( e.Inverse( ) ) * u.Transpose( );

            // computer unit vector normal to the model
            modelNormal = v.GetColumn( e.MinIndex );
        }