For one base image we should find it in another image and draw a 2d pose of object
1-find keypoints with FAST algorithm or SIFT
2-calculating descriptor with ORB/BRIEF algorithm
3-matching keypoints with FLANN algorithm
4-calculate transformation matrix with RANSAC: R,T
5-transform corner of object to second image
For one base image we should find all objects in another image and draw a 2d pose of object
1-find keypoints with FAST algorithm or SIFT
2-calculating descriptor with ORB/BRIEF algorithm
3-matching keypoints with FLANN algorithm
4-calculate transformation matrix(projective) with RANSAC: R,T
5-transform corner of object to second image
6-mask that area and repeat 1-5
For one base 3d image we should find 3d pose of object in another image and draw a 3d pose of object
1-find keypoints with FAST algorithm or SIFT
2-calculating descriptor with ORB/BRIEF algorithm
3-matching keypoints with FLANN algorithm
4-calculate transformation matrix from 3d to 2d with PnP with RANSAC: R,T
5-transform corner of object to second image
6-use Linear Kalman Filter for bad poses rejection
