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           _    _    __   _    __   __    ______  
    ___   | || | || | || | ||  \ \\/ //  /_   _// 
   /   || | || | || | '--' ||   \ ` //   `-| |,-  
  | [] || | \\_/ || | .--. ||    | ||      | ||   
   \__ ||  \____//  |_|| |_||    |_||      |_||   
    -|_||   `---`   `-`  `-`     `-`'      `-`'   
     `-`

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Text this: A robust O(n) solution to the perspective-n-point problem