Cv2RecoverPose Method (InputArray, InputArray, InputArray, InputArray, OutputArray, OutputArray, Double, InputOutputArray, OutputArray)

public static int RecoverPose(
	InputArray E,
	InputArray points1,
	InputArray points2,
	InputArray cameraMatrix,
	OutputArray R,
	OutputArray t,
	double distanceTresh,
	InputOutputArray mask = null,
	OutputArray triangulatedPoints = null
)

Public Shared Function RecoverPose ( 
	E As InputArray,
	points1 As InputArray,
	points2 As InputArray,
	cameraMatrix As InputArray,
	R As OutputArray,
	t As OutputArray,
	distanceTresh As Double,
	Optional mask As InputOutputArray = Nothing,
	Optional triangulatedPoints As OutputArray = Nothing
) As Integer

public:
static int RecoverPose(
	InputArray^ E, 
	InputArray^ points1, 
	InputArray^ points2, 
	InputArray^ cameraMatrix, 
	OutputArray^ R, 
	OutputArray^ t, 
	double distanceTresh, 
	InputOutputArray^ mask = nullptr, 
	OutputArray^ triangulatedPoints = nullptr
)

static member RecoverPose : 
        E : InputArray * 
        points1 : InputArray * 
        points2 : InputArray * 
        cameraMatrix : InputArray * 
        R : OutputArray * 
        t : OutputArray * 
        distanceTresh : float * 
        ?mask : InputOutputArray * 
        ?triangulatedPoints : OutputArray 
(* Defaults:
        let _mask = defaultArg mask null
        let _triangulatedPoints = defaultArg triangulatedPoints null
*)
-> int 

Parameters

E

Type: OpenCvSharpInputArray
The input essential matrix.

points1

Type: OpenCvSharpInputArray
Array of N 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.

R

Type: OpenCvSharpOutputArray
Recovered relative rotation.

t

Type: OpenCvSharpOutputArray
Recovered relative translation.

distanceTresh

Type: SystemDouble
threshold distance which is used to filter out far away points (i.e. infinite points).

mask (Optional)

Type: OpenCvSharpInputOutputArray
Input/output mask for inliers in points1 and points2. : If it is not empty, then it marks inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to recover pose. In the output mask only inliers which pass the cheirality check. This function decomposes an essential matrix using decomposeEssentialMat and then verifies possible pose hypotheses by doing cheirality check. The cheirality check basically means that the triangulated 3D points should have positive depth.

triangulatedPoints (Optional)

Type: OpenCvSharpOutputArray
3d points which were reconstructed by triangulation.

Return Value

[Missing <returns> documentation for "M:OpenCvSharp.Cv2.RecoverPose(OpenCvSharp.InputArray,OpenCvSharp.InputArray,OpenCvSharp.InputArray,OpenCvSharp.InputArray,OpenCvSharp.OutputArray,OpenCvSharp.OutputArray,System.Double,OpenCvSharp.InputOutputArray,OpenCvSharp.OutputArray)"]

Reference