A Robust Solution of Perspective-N-Point Problem (RPnP), contains paper and source. Thanks to Original author.

code3
.....\epnp
.....\....\compute_alphas.m
.....\....\compute_A_and_b_Gauss_Newton.m
.....\....\compute_constraint_distance_2param_6eq_3unk.m
.....\....\compute_constraint_distance_3param_6eq_6unk.m
.....\....\compute_constraint_distance_orthog_4param_9eq_10unk.m
.....\....\compute_L6_10.m
.....\....\compute_M_ver2.m
.....\....\compute_norm_sign_scaling_factor.m
.....\....\compute_permutation_constraint4.m
.....\....\compute_rho.m
.....\....\define_control_points.m
.....\....\define_distances_btw_control_points.m
.....\....\dist2.m
.....\....\efficient_pnp.m
.....\....\efficient_pnp_gauss.m
.....\....\efficient_pnp_planar.m
.....\....\gauss_newton.m
.....\....\getrotT.m
.....\....\kernel_noise.m
.....\....\optimize_betas_gauss_newton.m
.....\....\reprojection_error_usingRT.m
.....\....\sign_determinant.m
.....\func
.....\....\cal_pose_err.m
.....\....\DLT.m
.....\....\EPnP.m
.....\....\EPnP_GN.m
.....\....\HOMO.m
.....\....\LHM.m
.....\....\rodrigues.m
.....\....\RPnP.m
.....\....\RPnP1.m
.....\....\RPnP2.m
.....\....\showpercent.m
.....\....\SP.m
.....\....\xdrawgraph.m
.....\....\xrand.m
.....\lhm
.....\...\objpose.m
.....\...\qmatQ.m
.....\...\qmatW.m
.....\...\quat2mat.m
.....\...\xform.m
.....\...\xformproj.m
.....\main_4pt.m
.....\main_5pt.m
.....\main_ordinary_3d.m
.....\main_planar.m
.....\main_quasi_singular.m
.....\main_selecting_axis.m
.....\main_time.m
.....\readme.txt
.....\sp
.....\..\decomposeR.m
.....\..\get2ndPose_Exact.m
.....\..\get2ndPose_V2.m
.....\..\getRfor2ndPose_V.m
.....\..\GetRotationbyVector.m
.....\..\getRotationY_wrtT.m
.....\..\normRv.m
.....\..\Quaternion_byAngleAndVector.m
.....\..\Quaternion_byVectorAndScalar.m
.....\..\Quaternion_multiplyByScalar.m
.....\..\Quaternion_Norm.m
.....\..\RotationDiff.m
.....\..\rpp.m
.....\..\rpyAng.m
.....\..\rpyAng_X.m
.....\..\rpyMat.m
.....\..\SO3toQuat.m
.....\..\solveat.m
.....\..\try.m
增强现实中的三维物体注册方法及其应用研究.caj

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