Various PnP slover implementations, include p3p, p3pf, epnp, dlt
the pnp_solvers is based on the p3pf originally provided by Torsten Sattler. I add another two pnp algorithms, epnp and dlt. And they work in the same framework, so you can easily change the method you want to use.
OpenCV(epnp), Eigen, and Google gflags and glogs(For this part you can refer to the README.txt in ./p3pf).
CMakeLists.txt is provided and you can complie the program with CMake. You need modify the CMakeLists.txt to find OpenCV library, also the Eigen include path. Serval pnp_example.cc files are provided to demonstrate how to use the PnP_Solvers.
Torsten Sattler, Chris Sweeney, Marc Pollefeys.
On Sampling Focal Length Values to Solve the Absolute Pose Problem.
ECCV 2014.
Laurent Kneip, Davide Scaramuzza, Roland Siegwart
A Novel Parametrization of the Perspective-Three-Point Problem for
a Direct Computation of Absolute Camera Position and Orientation.
CVPR 2011.
Lepetit Vincent, Francesc Morenonoguer, Pascal Fua
EPnP: An Accurate O(n) Solution to the PnP Problem.
IJCV 2009
Hartley Richard, Andrew Zisserman
Multi View Geometry in Computer Vision.