Structure From Motion Form Line Points Save

A collection of algorithms for pose estimation from points and lines in 2/3 views. List of algorithms:

1. Trifocal tensor computation from matched points in 3 views. Atleast 7 points correspondences are needed.
2. Camera pose estimation from the minimum 3 3D-2D lines correspondences from the papers:

a. "Pose Determination from Line-to-Plane Correspondences: Existance Condition and Closed Form Solutions".
b. "Pose Estimation from Line Correspondences: A Complete Analysis and A Series of Solutions"

** Need to implement RANSAC and the least square methods for robust pose estimation Dependencies: Eigen linear algebra library