perspective n point (PnP)

Описание

Algorithm

1. Read an image In.
2. Read the 3d coods of the points in the world frame and corresponding 2d points in the image frame.
3. Fromulate matrix Q that contains the 2D-3D correspondances
4. Solve for matrix M that contains the pose of the camera.
5. Enforce that matrix R in M is orthogonal.
6. Recover the scale of projection M and recompute M.

Github:https://github.com/aunsid/p-n-p-problem/tree/master