rust-photogrammetry/p3p

Camera pose estimation given 3D points and corresponding pixel coordinates.

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.

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.

Contributions

All forms of contributions are welcomed, preferably first as github issues.

• Questions
• Documentation
• Tests
• Benchmarks
• Features

In case of contribution to source code, it needs to use rustfmt and clippy. To run clippy:

touch src/lib.rs; cargo clippy -- -W clippy::all -W clippy::nursery -W clippy::pedantic

To build the documentation with math formatted by katex:

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