Function opencv::calib3d::decompose_essential_mat

pub fn decompose_essential_mat(
    e: &dyn ToInputArray, 
    r1: &mut dyn ToOutputArray, 
    r2: &mut dyn ToOutputArray, 
    t: &mut dyn ToOutputArray
) -> Result<()>

Decompose an essential matrix to possible rotations and translation.

Parameters

• E: The input essential matrix.
• R1: One possible rotation matrix.
• R2: Another possible rotation matrix.
• t: One possible translation.

This function decompose an essential matrix E using svd decomposition HartleyZ00 . Generally 4 possible poses exists for a given E. They are , , , . By decomposing E, you can only get the direction of the translation, so the function returns unit t.