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What are requirements of different algorithms available for solvePnP in opencv?

Hello I am trying to get the Pose of known geometry object and I am using opencv3.2.0 ,solvePnP to find that.

While searching in google I found that there are several algorithms for solvePnP implementation which we are passing as flag parameter to that function. But I did not find the requirements of each algorithm and when should I use which and I am trying to track the in real time.

Flags available for solvePnP:

SOLVEPNP_ITERATIVE

SOLVEPNP_P3P

SOLVEPNP_EPNP

The flags below are only available for OpenCV 3

SOLVEPNP_DLS

SOLVEPNP_UPNP

What are the minimum no of points required for each algorithm?

Can those points be coplanar and noncoplanar ?

What is the time complexity and accuracy of each algorithm ?

What are requirements of different algorithms available for solvePnP in opencv?

Hello I am trying to get the Pose of known geometry object and I am using opencv3.2.0 ,solvePnP to find that.

While searching in google I found that there are several algorithms for solvePnP implementation which we are passing as flag parameter to that function. But I did not find the requirements of each algorithm and when should I use which and I am trying to track the in real time.

Flags available for solvePnP:

SOLVEPNP_ITERATIVE

SOLVEPNP_P3P

SOLVEPNP_EPNP

The flags below are only available for OpenCV 3SOLVEPNP_DLS (in opencv3)

SOLVEPNP_DLS

SOLVEPNP_UPNP (in opencv 3)

What are the minimum no of points required for each algorithm?

Can those points be coplanar and noncoplanar ?

What is the time complexity and accuracy of each algorithm ?