P3P

This repository provides code for our CVPR 2023 paper "Revisiting the P3P Problem."

Dependencies

• Eigen

• This code is based on the benchmark code of lambdatwist-p3p.

• An Eigen implementation can be found at Poselib.

• The mex function for matlab is in the fold matlab/

Compile

> mkdir build && cd build
> cmake ..
> make -j8

Results

The proposed methods are named Direct, Null, and Adjoint, with Adjoint being recommended (method 2 in the paper, it has been refined).

Reference

@inproceedings{ding2023revisiting,
  title={Revisiting the P3P Problem},
  author={Ding, Yaqing and Yang, Jian and Larsson, Viktor and Olsson, Carl and {\AA}str{\"o}m, Kalle},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={4872--4880},
  year={2023}
}