Essential Matrix estimation for equi-rectangular projection cameras

danini / magsac

The MAGSAC algorithm for robust model fitting without using an inlier-outlier threshold

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Essential Matrix estimation for equi-rectangular projection cameras #12

Closed rishchou closed 1 year ago

rishchou commented 4 years ago

Is there a way to estimate Essential Matrix using DefaultEssentialMatrixEstimator() for cameras which don't have camera intrinsic matrices (for eg, 360 degree cameras)

danini commented 4 years ago

There is for sure a way to integrate such a solver. There are two things which you need to do:

Implement a new estimator, e.g., like the EssentialMatrixEstimator class.
Implement the solver which estimates the model from a given set of points (e.g., FivePointEssentialMatrixSolver).

If you send a solver that solves that problem I make it work with MAGSAC++ if that is easier for you.