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2017-03-15 07:31:02 -0600

commented question

The limitation of solvePnP() for pose estimation

http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#solvepnp (solvePnP) function can solve arbitrary pose estimation problems, not constrained with the planar case. You can see from the documentation opencv uses p3p or epnp algorithms. These algorithms are general.