vinayakaraju46 / 5-point-algorithm-MATLAB

5-point algorithm based on David Nister solution

5-point-algorithm-MATLAB

Code Structure

sevenPoint.m

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_synth

Test of 5-point algorithm in MATLAB. The evaluation of results involves the computation of reprojection error and cheirality

test_epilines

In progress...

Reference

[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.