Panasonic G5 has a 16.0MP Four Thirds (17.3 x 13 mm ) sized CMOS sensor and features Venus Engine VII FHD processor. On the other hand, Pentax KP has a 24.0MP APS-C (23.5 x 15.6 mm ) sized CMOS sensor and features PRIME IV processor. Pentax KP's sensor provides 8MP more than Panasonic G5's sensor, which gives a significant advantage in real life. You can print your images larger or crop more freely.
On the other hand, please keep in mind that Max sensor resolution is not the only determinant of resolving power. Factors such as the optical elements, low pass filter, pixel size and sensor technology also affects the final resolution of the captured image.
Below you can see the G5 and KP sensor size comparison.
As seen above, Pentax KP has a 1.6x Larger sensor area than Panasonic G5. Larger sensors give photographer more control on the depth of field and blurry background compared to smaller sensor when shot in same focal length and aperture.