Cv2FindEssentialMat Method (InputArray, InputArray, Double, Point2d, EssentialMatMethod, Double, Double, OutputArray)

public static Mat FindEssentialMat(
	InputArray points1,
	InputArray points2,
	double focal,
	Point2d pp,
	EssentialMatMethod method = EssentialMatMethod.Ransac,
	double prob = 0.999,
	double threshold = 1,
	OutputArray mask = null
)

Public Shared Function FindEssentialMat ( 
	points1 As InputArray,
	points2 As InputArray,
	focal As Double,
	pp As Point2d,
	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, 
	double focal, 
	Point2d pp, 
	EssentialMatMethod method = EssentialMatMethod::Ransac, 
	double prob = 0.999, 
	double threshold = 1, 
	OutputArray^ mask = nullptr
)

static member FindEssentialMat : 
        points1 : InputArray * 
        points2 : InputArray * 
        focal : float * 
        pp : Point2d * 
        ?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 por LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct.

focal

Type: SystemDouble
Focal length of the camera. Note that this function assumes that points1 and points2 are feature points from cameras with same focal length and principal point.

pp

Type: OpenCvSharpPoint2d
principal point of the camera.

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 othe accuracy of the point localization, image resolution, and the image noise.

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 ints of the same size and format as points1 .

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