Cv2FindEssentialMat Method (InputArray, InputArray, InputArray, EssentialMatMethod, Double, Double, OutputArray)

public static Mat FindEssentialMat(
	InputArray points1,
	InputArray points2,
	InputArray cameraMatrix,
	EssentialMatMethod method = EssentialMatMethod.Ransac,
	double prob = 0.999,
	double threshold = 1,
	OutputArray mask = null
)

Public Shared Function FindEssentialMat ( 
	points1 As InputArray,
	points2 As InputArray,
	cameraMatrix As InputArray,
	Optional method As EssentialMatMethod = EssentialMatMethod.Ransac,
	Optional prob As Double = 0.999,
	Optional threshold As Double = 1,
	Optional mask As OutputArray = Nothing
) As Mat

public:
static Mat^ FindEssentialMat(
	InputArray^ points1, 
	InputArray^ points2, 
	InputArray^ cameraMatrix, 
	EssentialMatMethod method = EssentialMatMethod::Ransac, 
	double prob = 0.999, 
	double threshold = 1, 
	OutputArray^ mask = nullptr
)

static member FindEssentialMat : 
        points1 : InputArray * 
        points2 : InputArray * 
        cameraMatrix : InputArray * 
        ?method : EssentialMatMethod * 
        ?prob : float * 
        ?threshold : float * 
        ?mask : OutputArray 
(* Defaults:
        let _method = defaultArg method EssentialMatMethod.Ransac
        let _prob = defaultArg prob 0.999
        let _threshold = defaultArg threshold 1
        let _mask = defaultArg mask null
*)
-> Mat 

Parameters

points1

Type: OpenCvSharpInputArray
Array of N (N >= 5) 2D points from the first image. The point coordinates should be floating-point (single or double precision).

points2

Type: OpenCvSharpInputArray
Array of the second image points of the same size and format as points1 .

cameraMatrix

Type: OpenCvSharpInputArray
Camera matrix K=⎡⎣⎢fx000fy0cxcy1⎤⎦⎥ . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera matrix.

method (Optional)

Type: OpenCvSharpEssentialMatMethod
Method for computing an essential matrix. RANSAC for the RANSAC algorithm. LMEDS for the LMedS algorithm.

prob (Optional)

Type: SystemDouble
Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct.

threshold (Optional)

Type: SystemDouble
Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise.

mask (Optional)

Type: OpenCvSharpOutputArray
Output array of N elements, every element of which is set to 0 for outliers and to 1 for the other points. The array is computed only in the RANSAC and LMedS methods.

Return Value

Reference