标签（空格分隔）： SLAM

@last update: 4.16

1. EPNP According to the paper:EPNP,complete the EPNP functions.

Lepetit V, Moreno-Noguer F, Fua P. Epnp: An accurate o (n) solution to the pnp problem[J]. International journal of computer vision, 2009, 81(2): 155.

2. Including

• Compiling with Cmake tool chain.
• Available Libray: Eigen , openCV
• Unit Testing: google-test

3. to be Submitted

• Project EPNP
• summary report(PPT)

✅ 环境配置 cmake,opencv343,eigen

✅ feature extraction, matching

✅ opencv solver,eigen solver

✅ 原理总结，画图

❓todo: gtest

result: 从打印结果R，T看，两种解法求出的相机姿态基本相同

根据3D参考点和对应2D的点，估计相机姿态 (the estimation of the pose of a calibrated camera from n 3D-to-2D point correspondences )

• 输入： N个世界坐标系中的3D参考点坐标 3D点对应的2d参考点坐标 相机内参K

• 输出： 相机位姿

用四个控制点的权重和来表示参考点 （express the n 3D points as a weighted sum of four virtual control points ）

见页面 推导