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.