1. Overview

This package is a C++ implementation of essential matrix estimation, which is called N-point method [1].

Authors: Ji Zhao

If you use this code for your research, please cite:

@article{zhao2020efficient,
  title={An Efficient Solution to Non-Minimal Case Essential Matrix Estimation},
  author={Zhao, Ji},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year={2020},
  doi = {10.1109/TPAMI.2020.3030161},
  publisher={IEEE}
}

2. Quick Start

2.1 Dependencies

1) Eigen 3. http://eigen.tuxfamily.org

2) SDPA 7.3.8. http://sdpa.sourceforge.net/

2.2 How to Build

git clone git@github.com:jizhaox/npt-pose.git
cd npt-pose
mkdir build && cd build
cmake ..
make
export OPENBLAS_NUM_THREADS=1
./demo