Function opencv::sfm::motion_from_essential_choose_solution
source · pub fn motion_from_essential_choose_solution(
rs: &impl ToInputArray,
ts: &impl ToInputArray,
k1: &impl ToInputArray,
x1: &impl ToInputArray,
k2: &impl ToInputArray,
x2: &impl ToInputArray,
) -> Result<i32>
Expand description
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).