lambda-twist

Relative camera pose from three 3d to 2d correspondences

To see an example of usage, see tests/consensus.rs.

This was derived from https://github.com/rust-cv/p3p/. It was rewritten to utilize Rust CV abstractions.

Implementation based on "Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver" Persson, M. and Nordberg, K. ECCV 2018.

Reference implementation available on the author github repository.

Documentation

To build the documentation with math formatted by katex:

RUSTDOCFLAGS="--html-in-header katex-header.html" cargo doc --no-deps

License

This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at http://mozilla.org/MPL/2.0/.

This rewrite is based on the adaptation of the original code (GPL-3.0) into OpenMVG, published under MPL-2.0 with the original author agreement.