private void UpdateTransformationMatrix( )
{
float rYaw = (float) ( yaw / 180 * Math.PI );
float rPitch = (float) ( pitch / 180 * Math.PI );
float rRoll = (float) ( roll / 180 * Math.PI );
transformationMatrix =
Matrix4x4.CreateTranslation( new Vector3( xObject, yObject, zObject ) ) *
Matrix4x4.CreateFromYawPitchRoll( rYaw, rPitch, rRoll );
worldRendererControl.WorldMatrix = transformationMatrix;
transformationMatrixControl.SetMatrix( transformationMatrix );
targetTransformationMatrixControl.SetMatrix( viewMatrix * transformationMatrix );
UpdateProjectedPoints( );
EstimatePose( );
}