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It is not possible to find essential matrix using your data. There is result a result 3x30 : [3 x 30]

[-nan(ind), -nan(ind), -nan(ind);
 -nan(ind), -nan(ind), -nan(ind);
 -nan(ind), -nan(ind), -nan(ind);
 3.209083287685636e-17, -0.4082482904638631, -0.4082482904638631;
 ....
]

with an exception :

OpenCV Error: Assertion failed (E.cols == 3 && E.rows == 3) in cv::decomposeEssentialMat, file G:\Lib\opencv\modules\calib3d\src\five-point.cpp, line 648

Now if you have got only five points in each view algorithm used in findEssentialMat is "Nister, An efficient solution to the five-point relative pose problem, PAMI, 2004". It will give you 4 essential matrix. If you want only one essential matrix you will need 8 points (Multiple view geometry R.Hartley- A.Zisserman).