---
title: "Estimate Pose"
slug: "cyclone-3dr-estimateposec"
updated: 2026-09-07T11:51:23Z
published: 2026-09-07T11:51:23Z
canonical: "rcdocs.leica-geosystems.com/cyclone-3dr-estimateposec"
---

> ## Documentation Index
> Fetch the complete documentation index at: https://rcdocs.leica-geosystems.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Estimate Pose

![CmdEstimatePose.svg](https://cdn.document360.io/820e11db-8ed5-45ae-ac86-f6b77dcb2aa7/Images/Documentation/CmdEstimatePose.svg)

This function allows you to estimate the position and orientation of a picture coming from a camera.

> [!TIP]
> ### Requirements
> 
> Select the image (perspective, spherical or unknown) whom attitude has to be computed.

---

1. The view is automatically split into two parts in order to have the selected image on the left and the mesh to texture on the right.
2. If the image **projection type** is unknown, define it: **perspective** or **spherical** pano.
3. Otherwise, you may want to keep previous internal or external parameters. For example, when your camera has been calibrated by [Calibrate Camera](/v1/docs/cyclone-3dr-calibratecamerac).
4. Give a point in the **image view** and its corresponding position in the **3D view** to define point pairs.
5. A computation is launched when 6 pairs have been defined (it is advised to define more pairs, especially when working out lens distortions).
6. Adjust the computation by removing (DEL key or red cross) or deactivating pairs.
7. Optionally, **export** or **import** pairs in a text file.
8. Finally, check the result using **go to camera view point**.
  1. By checking **Report**, you have the possibility to generate a report that outputs the list of pairs and the camera definition

> [!WARNING]
> ### Notes
> 
> - The tangential distortions are not estimated during the computation.
> - The ASCII format used to store pairs of points is one pair per line: "X Y Z U V I J K Name" Where X, Y and Z are the coordinates of the point in the 3D scene, U V are the coordinates of the point on the image (between 0 and 1 - 0/0 being the top left of the image and 1/1 being the bottom right), I J K define the vector from which the points are clicked and the name being the name of the point.

---

> [!TIP]
> ### Practice
> 
> - [Exercise: Texture a mesh with reference points](/v1/docs/cyclone-3dr-exercise-texture-a-mesh-with-reference-points)