SampleApp.MainForm.EstimatePose C# (CSharp) Method

        private void EstimatePose( )
        {
            Accord.Point[] projectedPoints = worldRendererControl.ProjectedPoints;
            Matrix3x3 rotationMatrix = Matrix3x3.Identity;
            Vector3 translationVector = new Vector3( 0 );

            if ( objectTypeCombo.SelectedIndex == 0 )
            {
                posit.EstimatePose( projectedPoints, out rotationMatrix, out translationVector );
            }
            else
            {
                coposit.EstimatePose( projectedPoints, out rotationMatrix, out translationVector );
            }

            estimatedTransformationMatrixControl.SetMatrix(
                Matrix4x4.CreateTranslation( translationVector ) *
                Matrix4x4.CreateFromRotation( rotationMatrix ) );

            float estimatedYaw;
            float estimatedPitch;
            float estimatedRoll;

            rotationMatrix.ExtractYawPitchRoll( out estimatedYaw, out estimatedPitch, out estimatedRoll );

            estimatedYaw   *= (float) ( 180.0 / Math.PI );
            estimatedPitch *= (float) ( 180.0 / Math.PI );
            estimatedRoll  *= (float) ( 180.0 / Math.PI );

            estimatedYawBox.Text   = estimatedYaw.ToString( "F3" );
            estimatedPitchBox.Text = estimatedPitch.ToString( "F3" );
            estimatedRollBox.Text  = estimatedRoll.ToString( "F3" );

            estimatedXObjectBox.Text = translationVector.X.ToString( "F3" );
            estimatedYObjectBox.Text = translationVector.Y.ToString( "F3" );
            estimatedZObjectBox.Text = translationVector.Z.ToString( "F3" );
        }
    }