graphics/poselib 2.0.4 DragonFly

PoseLib provides a collection of minimal solvers for camera pose estimation. The focus is on calibrated absolute pose estimation problems from different types of correspondences (e.g. point-point, point-line, line-point, line-line).

The goals of this project are to provide

• Fast and robust implementation of the current state-of-the-art solvers.
• Consistent calling interface between different solvers.
• Minimize dependencies, both external (currently only Eigen) and internal. Each solver is (mostly) stand-alone, making it easy to extract only a specific solver to integrate into other frameworks.
• Robust estimators (based on LO-RANSAC) that just works out-of-the-box for most cases.