I have been reading about this issue for the past couple of weeks now, going over research papers and finding several equations but to no avail. Here is what I understand so far:
- Feature matching is done on X, Y plane of equirectangular images (done).
- Matches are filtered and converted to unit sphere coordinates (done).
- Essential matrix has to be calculated from the pairs of coordinates (how is this done using opencv?) -- also I have read about homography but I didn't find anything on spherical images.
- Decompose essential matrix to find R, t (can be done once E is found but I'm stuck there).
Any assistance is highly appreciated.
Finding matches using ORB, and converting them to unit sphere coordinates. This is what I was successful in doing so far.
