Awesome

lambdatwist-p3p

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

Lambdatwist provides all unique correct solutions, solutions output by Ke, or Kneip in addition to these are either not unique, or not correct.