CompatibleProjectiveHomography 
Algorithms for finding a 4x4 homography which can convert two camera matrices of the same view but differ in only
the projective ambiguity.

P3PFinsterwalder 
Solves for the 3 unknown distances between camera center and 3 observed points by finding a root of a cubic
polynomial and the roots of two quadratic polynomials.

P3PGrunert 
Solves for the 3 unknown distances between camera center and 3 observed points by finding the roots of a 4th order
polynomial, This is probably the first solution to the P3P problem and first proposed in 1841 by Grunert.

PnPDistanceReprojectionSq 
Computes the reprojection error squared for a given motion and Point2D3D .

PnPInfinitesimalPlanePoseEstimation 
A plane based pose estimation algorithm [1].

PnPJacobianRodrigues 

PnPLepetitEPnP 
Implementation of the EPnP algorithm from [1] for solving the PnP problem when N ≥ 5 for the general case
and N ≥ 4 for planar data (see note below).

PnPResidualReprojection 
Computes the predicted residual as a simple geometric distance between the observed and predicted
point observation in normalized pixel coordinates.

PnPRodriguesCodec 
Encoding an decoding a rotation and translation where the rotation is encoded as a 3vector
Rodrigues coordinate.

PnPStereoDistanceReprojectionSq 
Computes sum of reprojection error squared in pixels for a pair of stereo observations.

PnPStereoEstimator 
Computes the left camera pose from a fully calibrated stereo camera system using a PnP algorithm.

PnPStereoJacobianRodrigues 

PnPStereoRefineRodrigues 
Minimizes the reprojection residual error for a pose estimate (left camera) in a calibrated stereo camera.

PnPStereoResidualReprojection 
Computes the predicted residual as a simple geometric distance between the observed and predicted
point observation in normalized pixel coordinates.

PointDistance3 
Provides the distance each point is from the camera center.

PoseFromPairLinear6 
Estimates the camera motion using linear algebra given a set of N associated point observations and the
depth (zcoordinate) of each object, where N ≥ 6.

PositionFromPairLinear2 
Given two views of N objects and the known rotation, estimate the translation.

PRnPDirectLinearTransform 
Estimates a projective camera given N points, i.e.

Relinearlize 
Used in case 4 of EPnP.

Se3ToStereoPoseCodec 

UtilLepetitEPnP 
