Function opencv::sfm::motion_from_essential_choose_solution

pub fn motion_from_essential_choose_solution(
    rs: &dyn ToInputArray, 
    ts: &dyn ToInputArray, 
    k1: &dyn ToInputArray, 
    x1: &dyn ToInputArray, 
    k2: &dyn ToInputArray, 
    x2: &dyn ToInputArray
) -> Result<i32>

Choose one of the four possible motion solutions from an essential matrix.

Parameters

• Rs: Input vector of 3x3 rotation matrices.
• ts: Input vector of 3x1 translation vectors.
• K1: Input 3x3 first camera matrix .
• x1: Input 2x1 vector with first 2d point.
• K2: Input 3x3 second camera matrix. The parameters are similar to K1.
• x2: Input 2x1 vector with second 2d point.

Decides the right solution by checking that the triangulation of a match x1--x2 lies in front of the cameras. Return index of the right solution or -1 if no solution.

Reference: See HartleyZ00 9.6 pag 259 (9.6.3 Geometrical interpretation of the 4 solutions).