Summary:
Efficient PnP algorithm to fit 2D to 3D correspondences under perspective assumption.
Benchmarked both variants of nullspace and pick one; SVD takes 7 times longer in the 100K points case.
Reviewed By: davnov134, gkioxari
Differential Revision: D20095754
fbshipit-source-id: 2b4519729630e6373820880272f674829eaed073
