├── LICENSE.md ├── README.md ├── cpp ├── Makefile ├── epnp.cpp ├── epnp.h └── main.cpp └── matlab ├── EPnP ├── compute_A_and_b_Gauss_Newton.m ├── compute_L6_10.m ├── compute_M_ver2.m ├── compute_alphas.m ├── compute_constraint_distance_2param_6eq_3unk.m ├── compute_constraint_distance_3param_6eq_6unk.m ├── compute_constraint_distance_orthog_4param_9eq_10unk.m ├── compute_norm_sign_scaling_factor.m ├── compute_permutation_constraint4.m ├── compute_rho.m ├── define_control_points.m ├── define_distances_btw_control_points.m ├── dist2.m ├── efficient_pnp.m ├── efficient_pnp_gauss.m ├── gauss_newton.m ├── getrotT.m ├── kernel_noise.m ├── optimize_betas_gauss_newton.m ├── reprojection_error_usingRT.m └── sign_determinant.m ├── data ├── draw_noisy_input_data.m ├── generate_noisy_input_data.m ├── input_data_noise.mat ├── project_3d_2d.m ├── random.m ├── return_Rt_matrix.m └── transform_3d.m ├── error ├── plot_3d_reconstruction.m └── reprojection_error_usingRT.m └── main.m /LICENSE.md: 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