I am so sorry. I want to look for a new way to solve the five-points problem. I find Opencv has a function about it. But I don't kown how to use it. The findEssentialMat() is ok? but the function assumes that points1 and points2 are feature points from cameras with same focal length and principle point. However, my cameras have a different focal length and principle point though the difference is a little. So I need help, How to do it. Of course, I know the camers' interior orientation element and lens distortion parameters. The two cameras have a same brand. But there is a little difference between the cameras' focal length and principle point. Opencv has another algorithm to finish it? Please help me. How can I do?
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