Class EssentialNister5
Finds the essential matrix given exactly 5 corresponding points. The approach is described in details in [1] and works by linearlizing the problem then solving for the roots in a polynomial. It is considered one of the fastest and most stable solutions for the 5point problem.
THIS IMPLEMENTATION DOES NOT CONTAIN ALL THE OPTIMIZATIONS OUTLIED IN [1]. A full implementation is quite involved. Example: SVD instead of the proposed QR factorization.
NOTE: This solution could be generalized for an arbitrary number of points. However, it would complicate the algorithm even more and isn't considered to be worth the effort.
[1] David Nister "An Efficient Solution to the FivePoint Relative Pose Problem" Pattern Analysis and Machine Intelligence, 2004

Constructor Summary

Method Summary
Modifier and TypeMethodDescriptionboolean
process
(List<AssociatedPair> points, DogArray<DMatrixRMaj> solutions) Computes the essential matrix from point correspondences.

Constructor Details

EssentialNister5
public EssentialNister5()


Method Details

process
Computes the essential matrix from point correspondences. Parameters:
points
 Input: List of points correspondences in normalized image coordinatessolutions
 Output: Storage for the found solutions. . Returns:
 true for success or false if a fault has been detected
