findEssentialMat1

geometryfunctionOpenCV 5.0.0

import { findEssentialMat1 } from '@banou/opencv-wasm'

Use after await initOpenCV(). See the initialization and named imports guide.

ARGUMENTSpoints1, points2, focal, pp

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FUNCTIONfindEssentialMat1

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RETURN TYPEMat

Call structure. A void return can still write to destination arguments. The parameter descriptions define inputs, outputs and ownership.

Calculates an essential matrix from the corresponding points in two images.

findEssentialMat1(points1: Mat, points2: Mat, focal: number, pp: Point2d, method: number, prob: number, threshold: number, maxIters: number, mask: Mat): Mat;

8 available overloads

findEssentialMat1(points1: Mat, points2: Mat): Mat;

findEssentialMat1(points1: Mat, points2: Mat, focal: number): Mat;

findEssentialMat1(points1: Mat, points2: Mat, focal: number, pp: Point2d): Mat;

findEssentialMat1(points1: Mat, points2: Mat, focal: number, pp: Point2d, method: number): Mat;

findEssentialMat1(points1: Mat, points2: Mat, focal: number, pp: Point2d, method: number, prob: number): Mat;

findEssentialMat1(points1: Mat, points2: Mat, focal: number, pp: Point2d, method: number, prob: number, threshold: number): Mat;

findEssentialMat1(points1: Mat, points2: Mat, focal: number, pp: Point2d, method: number, prob: number, threshold: number, maxIters: number): Mat;

findEssentialMat1(points1: Mat, points2: Mat, focal: number, pp: Point2d, method: number, prob: number, threshold: number, maxIters: number, mask: Mat): Mat;

points1

Array of N (N >= 5) 2D points from the first image. The point coordinates should be floating-point (single or double precision).

points2

Array of the second image points of the same size and format as points1 .

focal

focal length of the camera. Note that this function assumes that points1 and points2 are feature points from cameras with same focal length and principal point.

pp

principal point of the camera.

method

Method for computing a fundamental matrix.

• RANSAC for the RANSAC algorithm.
• LMEDS for the LMedS algorithm.

prob

Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct.

threshold

Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise.

maxIters

The maximum number of robust method iterations.

This function differs from the one above that it computes camera intrinsic matrix from focal length and principal point:

A =
\begin{bmatrix}
f & 0 & x_{pp}  \\
0 & f & y_{pp}  \\
0 & 0 & 1
\end{bmatrix}

mask

Output destination, filled by the native operation. Output array of N elements, every element of which is set to 0 for outliers and to 1 for the other points. The array is computed only in the RANSAC and LMedS methods.

Returns

The Mat result. Release returned native handles with using or delete(), including handles nested in results.

Upstream declaration ↗

These signatures describe this package. Upstream documentation can mention optional backends that are absent from this build. Check runtime compatibility before choosing a backend or file format.