A simple, easy to understand p3p solver with state of the art performance. http://openaccess.thecvf.com/content_ECCV_2018/html/Mikael_Persson_Lambda_Twist_An_ECCV_2018_paper.html
As of 2022 the solver has been patched to address a missing special case which is described in my thesis: https://www.diva-portal.org/smash/record.jsf?pid=diva2%3A1635583&dswid=3393
Cite the latter if the special case is relevant, otherwise cite the ECCV publication. Preferably cite both of course :P.
This is the benchmark code.
A corresponding pnp solver is found in: https://github.com/midjji/pnp
For a wrapper around the p3p specifically look to: https://github.com/midjji/pnp/blob/master/p4p.h
| Method | Lambda | Ke | Kneip |
|---|---|---|---|
| ground truth found | 9999991 | 9997237 | 9990804 |
| any solution found | 9999996 | 9999663 | 9999228 |
| ground truth found ratio | 0.999999 | 0.999724 | 0.99908 |
| no solution found | 4 | 337 | 772 |
| valid according to solver | 16827636 | 17811966 | 24152163 |
| incorrect solutions output by the solver | 0 | 795377 | 7325529 |
Lambdatwist provides all unique correct solutions, solutions output by Ke, or Kneip in addition to these are either not unique, or not correct.
| Timer | Total | Mean | Median | Max | Samples |
|---|---|---|---|---|---|
| Lambda | 12s | 2471ns | 2469ns | 2478ns | 5000000 |
| Ke | 17s | 3448ns | 3449ns | 3465ns | 5000000 |
| Kneip | 29s | 5887ns | 5870ns | 5965ns | 5000000 |