Essential Matrix estimation for equi-rectangular projection cameras

[rishchou]

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]

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.