Function opencv::sfm::essential_from_rt

source · 
pub fn essential_from_rt(
    r1: &impl ToInputArray,
    t1: &impl ToInputArray,
    r2: &impl ToInputArray,
    t2: &impl ToInputArray,
    e: &mut impl ToOutputArray
) -> Result<()>
Expand description

Get Essential matrix from Motion (R’s and t’s ).

§Parameters

  • R1: Input 3x3 first camera rotation matrix.
  • t1: Input 3x1 first camera translation vector.
  • R2: Input 3x3 second camera rotation matrix.
  • t2: Input 3x1 second camera translation vector.
  • E: Output 3x3 essential matrix.

Reference: HartleyZ00 9.6 pag 257 (formula 9.12)