This package provides functions to solve camera pose estimation given a set of three 3D points and their corresponding pixel coordinates.
This problem is generally known as "Perspective-n-Point" (PnP). We focus on the P3P case (n = 3) which is the minimal amount of points required to solve the problem with a finite number of solutions. There are many approaches to solve P3P. In this package, we have implemented:
- Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver. Mikael Persson, Klas Nordberg. ECCV 2018. (paper)
Implementation based on "Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver" Persson, M. and Nordberg, K. ECCV 2018. Reference implementation available on the author github repository.
The core P3P algorithm named Lambda Twist. Estimates up to 4 potential