README

To run the program, simply run test.m and all the appropriate functions will be called to do image rectification and create the point cloud of the scene.

ParseData parses the data and returns the parsed data in Mu, Mv, V, and RGB

getCorrespondences gets the x1 and x2 correspondences between two images given V

EstimateFundamentalMatrix finds the fundamental matrix 

GetInliersRANSAC is the RANSAC function  

EssentialMatrixFromFundamentalMatrix finds the fundamental matrix from the 
essential matrix 

ExtractCameraPose gets the camera pose given an Essential matrix 

Linear Triangulation does linear triangulation 

DisambiguateCameraPose finds the correct camera pose for camera 2