files were left out of the commit for release 0.9

aux/cross_vec3.m

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+function out = cross_vec3(u, v)
+%CROSS_VEC3 Function to compute the cross product of two 3D vectors. The
+%   function disregards if they're row or collumn vectors. The default 
+%   MATLAB implementation is simply too slow. 
+%
+%   Author: Sergio Agostinho - sergio(dot)r(dot)agostinho(at)gmail(dot)com 
+%   Date: Mar 2015
+%   Version: 0.9
+%   Repo: https://github.com/SergioRAgostinho/five_point_algorithm
+%   Feel free to provide feedback or contribute.
+
+if numel(u) ~= 3
+    error('cross_vec3:wrong_dimensions','u must be either 1x3 ou 3x1');
+end
+
+if numel(v) ~= 3
+    error('cross_vec3:wrong_dimensions','v must be either 1x3 ou 3x1');
+end
+
+out = [ u(2)*v(3) - u(3)*v(2);
+        u(3)*v(1) - u(1)*v(3);
+        u(1)*v(2) - u(2)*v(1)];
+end

aux/cube_3D.m

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+function cube_pts = cube_3D(centre_3D, size)
+%CUBE_3D Auxiliary function that given a cube centre coordinates and the 
+%   edge size returns the 3D coordenates of all vertices in a 3x8 matrix. 
+%
+%   Author: Sergio Agostinho - sergio(dot)r(dot)agostinho(at)gmail(dot)com 
+%   Date: Mar 2015
+%   Version: 0.9
+%   Repo: https://github.com/SergioRAgostinho/five_point_algorithm
+%   Feel free to provide feedback or contribute.
+
+if numel(centre_3D) ~= 3
+     error('cube_3D:wrong_dimensions:centre_3D',['centre_3D needs to either be a 3x1 collum ' ...
+         'vector or a 1x3 row vector']);
+end
+
+if numel(size) ~= 1
+     error('cube_3D:wrong_dimensions:size', 'size is a scalar');
+end
+
+x = centre_3D(1);
+y = centre_3D(2);
+z = centre_3D(3);
+hs = size/2;
+
+cube_pts = [x + hs, x + hs, x - hs, x - hs, x + hs, x + hs, x - hs, x - hs; ...
+            y + hs, y - hs, y + hs, y - hs, y + hs, y - hs, y + hs, y - hs; ...
+            z + hs, z + hs, z + hs, z + hs, z - hs, z - hs, z - hs, z - hs];
+end

aux/frustrum.m

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+function h_out = frustrum(R,t,h)
+%   Work in progress
+%
+%   Author: Sergio Agostinho - sergio(dot)r(dot)agostinho(at)gmail(dot)com 
+%   Date: Mar 2015
+%   Version: 0.9
+%   Repo: https://github.com/SergioRAgostinho/five_point_algorithm
+%   Feel free to provide feedback or contribute.
+
+T = [R t; zeros(1,3) 1];
+R_view = [0 0 1 0; -1 0 0 0 ; 0 -1 0 0; 0 0 0 1];
+frame = [1 0 0 0; 
+         0 1 0 0;
+         0 0 1 0;
+         1 1 1 1];
+
+
+pts = R_view *(T \ frame);
+
+
+if nargin > 2 && ishandle(h)
+    next_plot = get(h, 'NextPlot');
+    set(h, 'NextPlot', 'add');
+
+    h_p = plot3(h, [pts(1,4) pts(1,1)], [pts(2,4) pts(2,1)], [pts(3,4) pts(3,1)], 'r', ...
+               [pts(1,4) pts(1,2)], [pts(2,4) pts(2,2)], [pts(3,4) pts(3,2)], 'g', ...
+               [pts(1,4) pts(1,3)], [pts(2,4) pts(2,3)], [pts(3,4) pts(3,3)], 'b');
+    set(h, 'NextPlot', next_plot);
+else
+    h_p = plot3([pts(1,4) pts(1,1)], [pts(2,4) pts(2,1)], [pts(3,4) pts(3,1)], 'r', ...
+               [pts(1,4) pts(1,2)], [pts(2,4) pts(2,2)], [pts(3,4) pts(3,2)], 'g', ...
+               [pts(1,4) pts(1,3)], [pts(2,4) pts(2,3)], [pts(3,4) pts(3,3)], 'b');
+end
+
+h_out = get(h_p(1), 'Parent');
+
+end

aux/triangulate.m

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+function pts = triangulate(pts1, pts2, K1, K2, E, R, t)
+%TRIANGULATE Given 2D point matches between two images and the
+% transformatiom between them in terms of the rotation matrix R and the
+% translation vector t, such a point in camera 1 reference frame, can be
+% transformed to camera 2 reference frame through, P_2 = [R t; zeros(1,3) 1]
+% This triangulation method assumes ideal point correspondence and it is
+% presented in "An Efficient Solution to the Five-Point Relative Pose 
+% Problem" by David Nister. 
+% DOI: http://dx.doi.org/10.1109/TPAMI.2004.17
+%
+% Known Issues:
+% - There's no need to request E and R|t
+%
+% TODO:
+% - Fix the required arguments. 
+%
+% Author: Sergio Agostinho - sergio(dot)r(dot)agostinho(at)gmail(dot)com 
+% Date: Mar 2015
+% Version: 0.9
+% Repo: https://github.com/SergioRAgostinho/five_point_algorithm
+% Feel free to provide feedback or contribute.
+
+if size(pts1,1) ~= 2 || size(pts2,1) ~= 2
+    error('triangulate:wrong_dimensions','pts1 and pts2 must be of size 2xn');
+end
+
+if size(pts1,2) ~= size(pts2,2)
+    error('triangulate:wrong_dimensions','pts1 and pts2 must have the same number of points');
+end
+
+if ~all(size(R) == [3, 3])
+    error('triangulate:wrong_dimensions','R must be of size 3x3');
+end
+
+if ~all(size(t) == [3, 1])
+    error('triangulate:wrong_dimensions','t must be of size 3x1');
+end
+
+n = size(pts1,2);
+pts = zeros(4,n);
+q_1 = K1 \ [pts1; ones(1,n)];
+q_2 = K2 \ [pts2; ones(1,n)];
+
+for m = 1:n
+    a = E'*q_2(:,m);
+    b = cross_vec3(q_1(:,m), [a(1:2); 0]);
+    c = cross_vec3(q_2(:,m), diag([1 1 0])*E*q_1(:,m));
+    d = cross_vec3(a, b);
+
+    P = [R t];
+    C = P'*c;
+    Q = [d*C(4); -d(1:3)'*C(1:3)]; 
+
+    pts(:,m) = Q;
+end
+
+end

examples/ex_01_full_synthetic.m

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+% FIVE_POINT_ALGORITHM - 
+% Example 1: Full synthetic
+%
+%   Draw a fictional cube whose vertices are seen by two camera. Project
+%   these points into the camera image plain, run the five_point_method on
+%   top of them and verify the final result. 
+%
+% Author: Sergio Agostinho - sergio(dot)r(dot)agostinho(at)gmail(dot)com 
+% Date: Mar 2015
+% Version: 0.9
+% Repo: https://github.com/SergioRAgostinho/five_point_algorithm
+% Feel free to provide feedback or contribute.
+
+[path, ~, ~] = fileparts(which('ex_01_full_synthetic'));
+addpath([path '/..']);
+addpath([path '/../aux']);
+clear path
+
+cube_pts = cube_3D([0 0 10]', 0.2);
+cube_pts_homo = [cube_pts; ones(1,size(cube_pts,2))];
+
+K1 = [602.5277   0           177.3328;
+      0          562.9129    102.8893;
+      0          0           1.0000];
+
+K2 = [562.9129   0           102.8893;
+     0           602.5277    177.3328;
+     0           0           1.0000];
+
+%The first camera will be placed at the origin
+P_1 = [eye(3), zeros(3,1)];
+cam1_pts = K1*P_1*cube_pts_homo;
+pts1 = cam1_pts(1:2,:)./(ones(2,1)*cam1_pts(3,:));
+
+%The second camera will be displaced 1 unit (to match our algorithm
+%assumption) in the +x direction of the first camera reference frame and
+%rotated -10 degrees in y.
+t_o = [1; 0; 0];
+R_o = [ cosd(-10)   0   sind(-10);
+        0           1   0;
+        -sind(-10)  0   cosd(-10)];
+P_2 = [R_o', -R_o'*t_o];
+cam2_pts = K2*P_2*cube_pts_homo;
+pts2 = cam2_pts(1:2,:)./(ones(2,1)*cam2_pts(3,:));
+
+[E, R, t, Eo] = five_point_algorithm(pts1(:,1:5), pts2(:,1:5), K1, K2);
+
+%In this case the first solution is the correct one.
+pts3Dhomo = triangulate(pts1, pts2, K1, K2, E{1}, R{1}, t{1});
+pts3D = pts3Dhomo(1:3,:)./(ones(3,1)*pts3Dhomo(4,:));
+
+%Display results
+cube_pts
+pts3D