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                                            Yaqing

Refined P3P solver, and a new implementation for rel_pose_upright_3pt

Thanks! It should be fine now.

Refined P3P solver, and a new implementation for rel_pose_upright_3pt

@S-o-T The little difference in the posebench is possibly due to the different random samples in different machines. After using std::array instead of std::vector, now the runtime is ~209ns.