5-point algorithm implemented in MATLAB
Usage: [E, num] = fivePoint(p, q, K1, K2)
where:
E - essential matrices between the image pair
num - the number of solutions returned
p - coordinates of matched points in the first image
q - coordinates of matched points in the second image
K1 - intrinsic matrix of the camera corresponding to the first view
K2 - intrinsic matrix for the second view
Note: To compute fundamental matrix, initialize the intrinsic matrix as an identity 3x3 matrix
Test of 5-point algorithm in MATLAB. The evaluation of results involves the computation of reprojection error and cheirality
In progress...
[1] D. Nister, "An efficient solution to the five-point relative pose problem", IEEE Transactions on
Pattern Analysis and Machine Intelligence, vol. 26, no. 6, pp. 756-770, 2004.
[2] H. Li and R. Hartley, "Five-Point Motion Estimation Made Easy", 18th International Conference on
Pattern Recognition (ICPR'06), 2006.