I have a 3D point cloud of scene, its set of views with known poses and a new query image from camera with camera calibration data (i.e. focal length). Here is a snapshot of my point cloud of scene
and query image
I need to estimate the camera pose of the query image. I have found similar question on SO. My intuition is to find point correspondences btw the query image and all the view image of the scene and apply SolvePnP to get the camera pose.
My questions is whether it is right solution and how to approach it? Should I somehow use the original point cloud here once I get good correspondences btw the query image and view images to estimate the camera pose?