implement equivalent of solvePnP

[dehann]

xref (thanks @yakir12 for pointing this out!):

• Set of measured points to known coordinates JuliaGeometry/CoordinateTransformations.jl#30

In OpenCV this is called the solvePnP function, I've looked at it before, and its very long and hard to maintain. I've long wanted to rewrite

Also see:

• Refactor AprilTags.jl to use CameraModels.jl AprilTags.jl#83

Copying quote from @yakir12 (hope you don't mind):
"""
I feel like [JuliaRobotics/]CameraModels.jl package, together with the mechanics already in CoordinateTransformations.jl and Rotations.jl, plus some clever usage of autodifferentiation may very well be the ultimate way forward. If it's really solid we could build a similar interactive tool for calibration like AprilCal...
"""

I totally agree! I'm putting it all together in a common project, so we can track to see how what where is happening on this front.

[dehann]

Possible new solution:

• https://github.com/terzakig/sqpnp