Merge remote-tracking branch 'origin/master'

Author: SergioRAgostinho

LICENSE

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+The MIT License (MIT)
+
+Copyright (c) 2015 Sérgio Agostinho
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+# Five-Point Algorithm
+A MATLAB implementation of the Five-Point Algorithm by David Nistér
+
+Given five points matches between two images, and the intrinsic parameters of each camera. Estimate the essential matrix `E`, the rotation matrix `R` and translation vector `t`, between both images. This algorithm is based on the method described by David Nistér in ["An Efficient Solution to the Five-Point Relative Pose Problem"](http://dx.doi.org/10.1109/TPAMI.2004.17)
+
+#### Arguments:
+
+`pts1`, `pts2` - assumed to have dimension 2x5 and of equal size. 
+
+`K1`, `K2` - 3x3 intrinsic parameters of cameras 1 and 2 respectively
+
+#### Known Issues:
+
+The algorithm is still incomplete. I'm releasing it at this early stage because it already provides proper estimates of the essential matrix. Although there is more than one solution, I'm currently only returning the first. I still need to figure out how to select the "best" if such exists. 
+
+#### TODO:
+- [ ] Extract `R` and `t` from `E`
+- [ ] Provide example cases.
+- [ ] Implement the variant with 5 points over 3 images
+- [ ] Handle more than 5 points
+
+#### Other Info
+* Author: Sérgio Agostinho - sergio(dot)r(dot)agostinho(at)gmail(dot)com 
+* Date: Feb 2015
+* Version: 0.8
+
+Feel free to provide feedback or aid in the development.