How to use 5-point algorithm to solve for rotations directly

[ann1019]

Hi @laurentkneip,

Thanks for your amazing work!
However, when I was using your 5-point algorithm to solve the rotation matrix only, I met some problems.
What is the reasonable correspondence?
If I want to get at least one rotation matrix, how can I give reasonable 3d points correspondences on the unit sphere and the reasonable range of translation?
I try to understand generatePoint() in random_generators.cpp, but I can't figure out the meaning of the algorithm.
Could you help me?

Thanks for your patience!
Ann