PnP solvers C++版本，包括P3Pf，Epnp等

PnP solvers C++版本，包括P3Pf，Epnp等位姿解算算法，

// Copyright （c） 2009 V. Lepetit EPFL
// All rights reserved.

// Redistribution and use in source and binary forms with or without
// modification are permitted provided that the following conditions are met: 

// 1. Redistributions of source code must retain the above copyright notice this
//    list of conditions and the following disclaimer. 
// 2. Redistributions in binary form must reproduce the above copyright notice
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution. 

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS“ AND
// ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
// ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES
// （INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE DATA OR PROFITS; OR BUSINESS INTERRUPTION） HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT
// （INCLUDING NEGLIGENCE OR OTHERWISE） ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

// The views and conclusions contained in the software and documentation are those
// of the authors and should not be interpreted as representing official policies 
//   either expressed or implied of the FreeBSD Project.

#include 
#include 
using namespace std;

#include “epnp.h“

//copy constructor
epnp::epnp（const epnp& e）
{
	//set_internal_parameters（double uc double vc double fu double fv）
	set_internal_parameters（e.uc e.vc e.fu e.fv）;
	maximum_number_of_correspondences = e.maximum_number_of_correspondences;
	number_of_correspondences = e.number_of_correspondences;
	if （maximum_number_of_correspondences > 0）{
		pws = new double[3 * maximum_number_of_correspondences];
		us = new double[2 * maximum_number_of_correspondences];
		alphas = new double[4 * maximum_number_of_correspondences];
		pcs = new double[3 * maximum_number_of_correspondences];
	}
	else{
		pws = 0;
		us = 0;
		alphas = 0;
		pcs = 0;
	}
	if （number_of_correspondences > 0）{
		const int length_unit = sizeof（double）* number_of_correspondences;
		std::memcpy（pws e.pws 3 * length_unit）;
		std::memcpy（us e.us 2 * length_unit）;
		std::memcpy（alphas e.alphas 4 * length_unit）;
		std::memcpy（pcs e.pcs 3 * length_unit）;
	}
}

//copy assignment
epnp& epnp::operator = （const epnp& e）
{
	set_internal_parameters（e.uc e.vc e.fu e.fv）;
	if （this != &e）{
		if （maximum_number_of_correspondences < e.maximum_number_of_correspondences）{
			if （pws != 0） delete[] pws;
			if （us != 0） delete[] us;
			if （alphas != 0） delete[] alphas;
			if （pcs != 0） delete[] pcs;

			maximum_number_of_correspondences = e.maximum_number_of_co

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2016-07-29 07:01  PnP_Solvers-master\
     文件        1407  2016-07-29 07:01  PnP_Solvers-master\CMakeLists.txt
     文件        1314  2016-07-29 07:01  PnP_Solvers-master\README.md
     文件        2493  2016-07-29 07:01  PnP_Solvers-master\camera_pose.cc
     文件        6542  2016-07-29 07:01  PnP_Solvers-master\camera_pose.h
     目录           0  2016-07-29 07:01  PnP_Solvers-master\cmake\
     文件       10245  2016-07-29 07:01  PnP_Solvers-master\cmake\OptimizeCompilerFlags.cmake
     文件        5074  2016-07-29 07:01  PnP_Solvers-master\eigen_helpers.h
     目录           0  2016-07-29 07:01  PnP_Solvers-master\epnp\
     文件         295  2016-07-29 07:01  PnP_Solvers-master\epnp\CMakeLists.txt
     文件       22714  2016-07-29 07:01  PnP_Solvers-master\epnp\epnp.cpp
     文件        4580  2016-07-29 07:01  PnP_Solvers-master\epnp\epnp.h
     文件        8451  2016-07-29 07:01  PnP_Solvers-master\epnp_example.cc
     文件           0  2016-07-29 07:01  PnP_Solvers-master\p3p_example.cc
     目录           0  2016-07-29 07:01  PnP_Solvers-master\p3pf\
     文件         123  2016-07-29 07:01  PnP_Solvers-master\p3pf\CMakeLists.txt
     文件        1574  2016-07-29 07:01  PnP_Solvers-master\p3pf\LICENSE
     文件        4306  2016-07-29 07:01  PnP_Solvers-master\p3pf\README.txt
     目录           0  2016-07-29 07:01  PnP_Solvers-master\p3pf\ext\
     文件         761  2016-07-29 07:01  PnP_Solvers-master\p3pf\ext\CMakeLists.txt
     目录           0  2016-07-29 07:01  PnP_Solvers-master\p3pf\ext\p3p_code_kneip\
     文件        9632  2016-07-29 07:01  PnP_Solvers-master\p3pf\ext\p3p_code_kneip\P3p.cpp
     文件        3229  2016-07-29 07:01  PnP_Solvers-master\p3pf\ext\p3p_code_kneip\P3p.h
     文件         777  2016-07-29 07:01  PnP_Solvers-master\p3pf\ext\p3p_code_kneip\Readme.txt
     文件        6878  2016-07-29 07:01  PnP_Solvers-master\p3pf\ext\p3p_code_kneip\p3p.m
     文件        2592  2016-07-29 07:01  PnP_Solvers-master\p3pf\ext\p3p_code_kneip\solveQuartic.m
     目录           0  2016-07-29 07:01  PnP_Solvers-master\p3pf\src\
     文件        1043  2016-07-29 07:01  PnP_Solvers-master\p3pf\src\CMakeLists.txt
     文件        5429  2016-07-29 07:01  PnP_Solvers-master\p3pf\src\p3p_solver.cc
     文件        5851  2016-07-29 07:01  PnP_Solvers-master\p3pf\src\p3p_solver.h
     文件       19585  2016-07-29 07:01  PnP_Solvers-master\p3pf\src\p3pf.cc
............此处省略10个文件信息