From d82384ba15c1c132e68f47680217c5ac4f34e359 Mon Sep 17 00:00:00 2001
From: adityavaishampayan <aditya1.vaishampayan@gmail.com>
Date: Fri, 20 Mar 2020 18:33:42 -0400
Subject: [PATCH] Task 1.15.8 Added stubs for LinearPnP.py

---
 scripts/LinearPnP.py | 52 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 52 insertions(+)
 create mode 100644 scripts/LinearPnP.py

diff --git a/scripts/LinearPnP.py b/scripts/LinearPnP.py
new file mode 100644
index 0000000..54632e3
--- /dev/null
+++ b/scripts/LinearPnP.py
@@ -0,0 +1,52 @@
+# -*- coding: utf-8 -*-
+
+"""
+MIT License
+
+Copyright (c) 2018 Aditya Vaishampayan, Amrish Bhaskaran
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+"""
+
+# @file    LinearPnP.py
+# @Author  Aditya Vaishampayan (adityavaishampayan)
+# @Author  Amrish Baskaran (amrish1222)
+# @copyright  MIT
+# @brief  a function that estimates the camera pose using linear least squares
+
+import sys
+
+# noinspection PyBroadException
+try:
+    sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
+except:
+    pass
+
+# G
+
+
+def linear_pnp(correspondences_2d_3d: float, calibration_matrix: float) -> float:
+    """
+    Given 2D-3D correspondences, X↔x and the intrinsic parameter K, estimate the camera pose using linear least squares
+    :param correspondences_2d_3d: 2D to 3D point correspondences
+    :param calibration_matrix: intrinsic matrix K
+    :return: estimated camera pose using linear least square
+    """
+    ...
+