Hi there,
I was wondering if it was planned to add the 5-point algorithm for essential matrix computation to opencv ? If not, is there people around here interested in cooperating to add this feature to opencv ?
Bests,
Guido
Some time ago I've implemented 5-pt algorithm (according to Nister solution: see An Efficient Solution to the Five-Point Relative Pose Problem). The code uses additional packages: Eigen (for singular value decomposition) and rpoly.cpp (Jenkins-Traub real roots finder) and has about 500 lines of code (part of the code was generated in Matlab).
Experiments with synthetic data showed that it's more accurace and less sensitive to noise than 7-pt or 8-pt algorithms. And, as theory says, doesn't suffer from planar degeneracy.
If you are interested I can share a source code so it can be modified and added to OpenCV.
That's great news, it is difficult to find an implementation of the 5-point algorithm. As far as I know, there is only a matlab version, a library embeded in Bundler and the libmv version. I would be very interested in seeing your software. What language did you used ?
I haven't tested it but Nghia Oh's page lists an implementation
The spaghetti part is the machine generated code, which is about 200 lines long. It's long because it is symbolic matrix operations fully expanded out.
My code also does the visibility test. So it'll return the correct essential matrix amongst all the possible solutions, which is useful.
I've had one user saying it produces accurate result. I welcome more testers :)
Asked: 2012-09-25 09:59:00 -0600
Seen: 6,260 times
Last updated: Nov 04 '12
