Function opencv::sfm::relative_camera_motion

pub fn relative_camera_motion(
    r1: &dyn ToInputArray, 
    t1: &dyn ToInputArray, 
    r2: &dyn ToInputArray, 
    t2: &dyn ToInputArray, 
    r: &mut dyn ToOutputArray, 
    t: &mut dyn ToOutputArray
) -> Result<()>

Computes the relative camera motion between two cameras.

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.
• R: Output 3x3 relative rotation matrix.
• t: Output 3x1 relative translation vector.

Given the motion parameters of two cameras, computes the motion parameters of the second one assuming the first one to be at the origin. If T1 and T2 are the camera motions, the computed relative motion is