该代码使用RANSAC框架中的五点解算器来计算本质矩阵的稳健初始估计。
This code uses five point solvers in a RANSAC framework to compute a robust initial estimate of the essential matrix.
随后，通过使用6个参数（3个用于Rodrigues向量，3个用于平移向量）对本质矩阵进行参数化，并使用Levenberg–Marquardt算法最小化RANSAC inliers距外极线的累积对称距离，从而改进该矩阵的估计结果。
That estimate is subsequently refined by parameterizing the essential matrix with six parameters (3 for the Rodrigues vector and 3 for the translation vector) and minimizing the cumulative symmetric distance from epipolar lines for RANSAC inliers with the Levenberg–Marquardt algorithm.
注意：本代码中使用了多个其它的函数，请阅读README.txt。
NOTE: The code requires several functions by others, see README.txt for further instructions.
关于本质矩阵概念的说明：
See also https://en.wikipedia.org/wiki/Essential_matrix
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