Itseez/opencv — pull request #234 by prclibo (2012-12-18 20:00:11+00:00)
Title: 5-point algorithm for essential matrix estimation

Hello,

I am a student working on 3D vision. I wrote some 5-point algorithm based code for estimating essential matrix. This commit includes a function findEssentialMat() in calib3d module, which works similarly to cv::findFundamentalMat(). Also two functions to recover relative camera pose from the estimated essential matrix are added.

The related doc and test is available. The test code can be found in module/calib3d/test/test_fundam.cpp.

Please let me know if this commit could be accepted. I will be glad to further improve it for opencv. Thanks!

Regards,

Bo