Function opencv::sfm::essential_from_fundamental

source · 
pub fn essential_from_fundamental(
    f: &impl ToInputArray,
    k1: &impl ToInputArray,
    k2: &impl ToInputArray,
    e: &mut impl ToOutputArray
) -> Result<()>
Expand description

Get Essential matrix from Fundamental and Camera matrices.

§Parameters

  • F: Input 3x3 fundamental matrix.
  • K1: Input 3x3 first camera matrix inline formula.
  • K2: Input 3x3 second camera matrix. The parameters are similar to K1.
  • E: Output 3x3 essential matrix.

Reference: HartleyZ00 9.6 pag 257 (formula 9.12)