This to A Robust O (n) Solution to the Perspective- n- Point Problem, described in the paper the algorithm c++ implementation, using qt environment simulation

OPnP
....\GB_Solver_3Order_4Variable_Symmetry.m
....\GB_Solver_3Order_4Variable_b_Division.m
....\Generate_Random_Data_Full.m
....\OPnP.m
....\PnP_FilterOutRepetitive.m
....\PnP_Polish.m
....\PnP_Reproj_NLS_Matlab.m
....\Resultant_Solver_DLS.m
....\ShowInlierOutlier.m
....\ShowInputImage.m
....\ShowReferenceImage.m
....\evaluate_solutions.m
....\gOp_interface.m
....\matrix2quaternion.m
....\quaternion2matrix.m
....\solver_pfold.m
....\template_pnp.mat
POSIT.m
code
....\epnp
....\....\compute_A_and_b_Gauss_Newton.m
....\....\compute_L6_10.m
....\....\compute_M_ver2.m
....\....\compute_alphas.m
....\....\compute_constraint_distance_2param_6eq_3unk.m
....\....\compute_constraint_distance_3param_6eq_6unk.m
....\....\compute_constraint_distance_orthog_4param_9eq_10unk.m
....\....\compute_norm_sign_scaling_factor.m
....\....\compute_permutation_constraint4.m
....\....\compute_rho.m
....\....\define_control_points.m
....\....\define_distances_btw_control_points.m
....\....\dist2.m
....\....\efficient_pnp.m
....\....\efficient_pnp_gauss.m
....\....\efficient_pnp_planar.m
....\....\gauss_newton.m
....\....\getrotT.m
....\....\kernel_noise.m
....\....\optimize_betas_gauss_newton.m
....\....\reprojection_error_usingRT.m
....\....\sign_determinant.m
....\func
....\....\DLT.m
....\....\EPnP.m
....\....\EPnP_GN.m
....\....\HOMO.m
....\....\LHM.m
....\....\RPnP.m
....\....\RPnP1.m
....\....\RPnP2.m
....\....\SP.m
....\....\cal_pose_err.m
....\....\rodrigues.m
....\....\showpercent.m
....\....\xdrawgraph.m
....\....\xrand.m
....\lhm
....\...\objpose.m
....\...\qmatQ.m
....\...\qmatW.m
....\...\quat2mat.m
....\...\xform.m
....\...\xformproj.m
....\sp
....\..\GetRotationbyVector.m
....\..\Quaternion_Norm.m
....\..\Quaternion_byAngleAndVector.m
....\..\Quaternion_byVectorAndScalar.m
....\..\Quaternion_multiplyByScalar.m
....\..\RotationDiff.m
....\..\SO3toQuat.m
....\..\decomposeR.m
....\..\get2ndPose_Exact.m
....\..\get2ndPose_V2.m
....\..\getRfor2ndPose_V.m
....\..\getRotationY_wrtT.m
....\..\normRv.m
....\..\rpp.m
....\..\rpyAng.m
....\..\rpyAng_X.m
....\..\rpyMat.m
....\..\solveat.m
....\..\try.m
rpnpx.m
uOI.m

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