> For the complete documentation index, see [llms.txt](https://docs.vioso.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.vioso.com/calibration/content-mapping/3d-mapping/camera-pose-estimation-in-vioso-7.md).

# Camera Pose Estimation in VIOSO 7

In the [Align 3D](/calibration/content-mapping/3d-mapping.md) step, defining the camera’s precise position and orientation relative to the screen's 3D model is critical. Traditionally, this is a manual process requiring the input of exact coordinates for position and rotation angles.

**VIOSO 7** introduces an automated estimation process to streamline this setup. By utilizing the [markers generated during the Design](/start/project-mode/creating-markers.md) step, the software can calculate an initial camera pose.

**Preparation**

Before starting the estimation, ensure your camera parameters are accurately configured:

* **Camera Type**: Select the correct lens profile.
* **FOV**: Set the field of view.
* **Border PX**: Define any sensor cropping or active pixel areas.

Once configured, click the **Estimate Pose** button to open the estimation interface.

<figure><img src="/files/0gQWlx2ys7o4OOBB5r1O" alt=""><figcaption></figcaption></figure>

This opens Pose estimation dialogue:

<figure><img src="/files/v8QwY01RcF44pie9IxGd" alt=""><figcaption></figcaption></figure>

#### Marker Management

* **Point list**: Displays all available markers. The Use column indicates if a point is active in the current calculation. Double-clicking a description allows for renaming.
* **Add Point**: Manually creates a new marker by entering specific 3D $$X,Y,Z$$ coordinates.
* **Change Point**: Allows you to edit the 3D coordinates of the currently selected marker if its digital position in the model needs adjustment.
* **Delete Points**: Removes the selected marker(s) from the list.
* **Save to / Load from**: Exports or imports the current marker configuration (positions and names) to a file.
* Start Point Picker: Switches back to the "Show Model" view to visually select or generate new markers directly from the 3D geometry.

#### Step 1: Rough Marker Placement

Using your mouse, drag the digital markers over the camera screenshot to match their physical locations on the screen from the camera's perspective.

* During this stage, markers will also be projected onto the real screen by the projector.
* Aim for a rough visual match to align the digital model's points with the physical surface.

#### Step 2: Precise Marker Alignment

To achieve a valid calculation, the markers must be placed with higher precision:

1. Select a marker in the interface.
2. Use the keyboard arrow keys for fine adjustments.
3. Observe the real projected screen; the projected marker should sit exactly on the corresponding feature of the physical screen.

<figure><img src="/files/mXcFDgDYzWMTb48bcm3b" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/sEtdVhnAgubOZYMaPOg0" alt=""><figcaption></figcaption></figure>

* **Test Current Configuration**: Press to test current marker placement. The software will provide an Error Value. For a successful pose, the error should ideally not exceed a few pixels.

<figure><img src="/files/35wvrRQbD9jOeprWMLgN" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/5UXwcX3emtjXA8Umv4Dm" alt=""><figcaption></figcaption></figure>

* **Estimate**: Finalizes the calculation. This button automatically updates the camera's position and orientation in the 3D space based on the marker alignment.
* **Close**: Exits the dialogue

**Note**: Since automatically generated markers are based on the 3D model rather than precisely measured positions of the physical space, this tool provides a only initial pose estimation. Some final manual fine-tuning of the coordinates may still be required to achieve perfect alignment.