Polar Calibration method based on the paper "M. Pollefeys, R. Koch and L. Van Gool, A simple and efficient rectification method for general motion, Proc. International Conference on Computer Vision, pp.496-501, Corfu (Greece), 1999.", which is available at http://www.inf.ethz.ch/personal/pomarc/pubs/PollefeysICCV99.pdf
The idea here is not just to align left-right images, but being able to align images between frames. So the goal here is being able to align pairs of images between frames, even if they are taken by a moving camera. Having this alignment, it is possible to, for example, detect changes between frames.
The most updated version of this code can be accessed at: https://github.com/nestormh/PolarCalibration
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