This is the source code of R1PPnP.

H. Zhou, T. Zhang and J. Jagadeesan, "Re-weighting and 1-Point RANSAC-Based PnP Solution to Handle Outliers," in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 41, no. 12, pp. 3022-3033, 1 Dec. 2019.


@article{zhou2018re,
  title={Re-weighting and 1-Point RANSAC-Based P $ n $ n P Solution to Handle Outliers},
  author={Zhou, Haoyin and Zhang, Tao and Jagadeesan, Jayender},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  volume={41},
  number={12},
  pages={3022--3033},
  year={2018},
  publisher={IEEE}
}