Awesome

LibQPEP Multi-Precision

The QPEP (Quadratic Pose Estimation Problems) library with multi-precision support. The current repo is written in type-oriented C++ templates, rather than the double-precision version in https://github.com/zarathustr/LibQPEP. It can be merged to low-configuration platforms with only single-precision support.

Compilation

git clone https://github.com/zarathustr/LibQPEP
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make install

Demo Program

Just run

./LibQPEP-test

Publication

Wu, J., Zheng, Y., Gao, Z., Jiang, Y., Hu, X., Zhu, Y., Jiao, J., Liu*, M. (2020) Quadratic Pose Estimation Problems: Globally Optimal Solutions, Solvability/Observability Analysis and Uncertainty Description.