A C/C++ implementation of Determination of the Attitude of 3-D Objects from a Single Perspective View
this project include the function :
int threeLines(cv::Mat& R, cv::Mat& tvec, const double& f, const cv::Mat& olines, const cv::Mat& ilines);
input: olines:Coordinates of the three lines in the object coordinate system;
ilines:Coordinates of the three lines corresponding to the "olines" respectively in the image coordinate system;
f:focus of the camera;
output:R:Rotation matrix;
tvec:Translation vector.