test_pnp.py

import numpy as np
import build.pnp_python_binding


xs = np.array([[-17.8431, 0.570044, 11.1874],[-80.6362, -23.8517, 21.0087],[-68.0126, 9.19776, 20.6913],[-8.31825, -13.5394, 23.8776],[-32.3177, 30.9775, 35.0005],[-60.5264, 3.64722, 62.0491],[-13.8288, -0.638686, 30.1851],[-25.1182, 35.7954, 81.3263],[0.841874, -20.8397, 42.3626],[-2.04336, 0.61477, 0.620302]])
ys = np.array([[-0.083742, 0.314872],[-0.516025, 0.0535602],[-0.392733, 0.51515],[0.400942, -0.423236],[0.371449, 0.98387],[0.123111, 0.257844],[0.481032, 0.102744],[0.850471, 0.608635],[0.846186, -0.652791],[0.154041, 0.784826]])
pose = np.array([0.898801, -0.0515797, 0.40325, -0.16397, 0.947568, 0.258716, 0.187565])


res = build.pnp_python_binding.pnp(xs, ys)


print(res - pose)