When space four points coplanar P4P problem, not only between the camera coordinate system and the object coordinate system rotation matrix R and translation vector t Can be solved linearly, and can determine the camera s effective focal length f and pixel ratio, the program is designed to simulate a known camera matrix M Camera outside the parameters matrix case solved by the known three-dimensional space points and image coordinates

GetRigidTransform2.m
P4Pf.m
p4pfcode.m
p4pfmex.c
p4pftestapp.m
P4Pf_m.m

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