A minimal package for solving P3P problems in Julia. To use in Julia, run:
pkg> add https://github.com/lopenguin/P3P.jlThe main interface is the function p3p(y, b, camK). The arguments of this function are:
y: pixel detection coordinates[u; v; 1]arranged as columns of a 3x3 matrixb: corresponding 3D coordinates[x; y; z]arranged as columns of a 3x3 matrixcamK: camera calibration matrix [3 x 3]
This function returns a list of rotations and translations that solve the P3P equations. It may be empty.
Currently only the Nanako solver is implemented. It is a direct method and ported from the MATLAB code released by the author.
Contributions welcome! The Nanako solver is enough for my needs, and I hope releasing my implementation is useful for you.
- Gaku Nakano, "A Simple Direct Solution to the Perspective-Three-Point Problem," BMVC2019.
https://bmvc2019.org/wp-content/uploads/papers/0533-paper.pdf