public interface EstimateNofPnP extends GeoModelEstimatorN<Se3_F64,Point2D3D>
Interface for computing multiple solution to the Perspective N-Point (PnP) problem. Given a set of observations from a single view and the known 3D location of the points being observed, estimate the rigid body transform from world to camera frame.
Observations are in normalized image coordinates, e.g. 3D pointing vector from camera origin of the form (x,y,1.0).