OpenGV is a C++ library for solving geometric computer vision problems. It contains efficient implementations of absolute-pose, relative-pose, triangulation, and point-cloud alignment methods for the calibrated case. All problems can be solved for central or non-central cameras, and embedded into a random sample consensus or nonlinear optimization scheme. The library is relying on the adapter pattern, and thus may easily be included into other projects. It furthermore contains a Matlab interface and a full benchmark kit for testing and comparing algorithms against each other. All my geometric computer vision algorithms are contained within this library (including my P3P solver).
Please cite the following paper if using the library:
L. Kneip, P. Furgale, "OpenGV: A unified and generalized approach to real-time calibrated geometric vision", Proc. of The IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China. May 2014.
More references are included on the documentation page!