dls-pnp-python

This code performs the DLS-PnP method introduced at ICCV 2011 Joel A. Hesch and Stergios I. Roumeliotis. "A direct least-squares (dls) solution for PnP". In Proc. of the Int. Conf. on Computer Vision, Barcelona, Spain, November 6-13, 2011. Usage: import the module and call robust_dls_pnp(p,z,K). p - list of 3-tuples of known 3D point features, z - list of corresponding 2-tuples of image points, K - camera matrix (3x3). By now this is the best algorithm for direct solution of PnP problem, i.e. finding camera pose given a set of 3D-2D correspondences. It"s not iterative, therefore very fast.