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opencv-wasm

findEssentialMat2

geometryfunctionOpenCV 5.0.0
import { findEssentialMat2 } from '@banou/opencv-wasm'

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

ARGUMENTSpoints1, points2, cameraMatrix1, distCoeffs1
FUNCTIONfindEssentialMat2
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 from potentially two different cameras.

findEssentialMat2(points1: Mat, points2: Mat, cameraMatrix1: Mat, distCoeffs1: Mat, cameraMatrix2: Mat, distCoeffs2: Mat, method: number, prob: number, threshold: number, mask: Mat): Mat;
5 available overloads
findEssentialMat2(points1: Mat, points2: Mat, cameraMatrix1: Mat, distCoeffs1: Mat, cameraMatrix2: Mat, distCoeffs2: Mat): Mat;
findEssentialMat2(points1: Mat, points2: Mat, cameraMatrix1: Mat, distCoeffs1: Mat, cameraMatrix2: Mat, distCoeffs2: Mat, method: number): Mat;
findEssentialMat2(points1: Mat, points2: Mat, cameraMatrix1: Mat, distCoeffs1: Mat, cameraMatrix2: Mat, distCoeffs2: Mat, method: number, prob: number): Mat;
findEssentialMat2(points1: Mat, points2: Mat, cameraMatrix1: Mat, distCoeffs1: Mat, cameraMatrix2: Mat, distCoeffs2: Mat, method: number, prob: number, threshold: number): Mat;
findEssentialMat2(points1: Mat, points2: Mat, cameraMatrix1: Mat, distCoeffs1: Mat, cameraMatrix2: Mat, distCoeffs2: Mat, method: number, prob: number, threshold: 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.

cameraMatrix1

Camera matrix for the first camera K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} .

distCoeffs1

Input vector of distortion coefficients for the first camera (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.

cameraMatrix2

Camera matrix for the second camera K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1} .

distCoeffs2

Input vector of distortion coefficients for the second camera (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]]) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.

method

Method for computing an essential 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.

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.

This function estimates essential matrix based on the five-point algorithm solver in [Nister03] . [SteweniusCFS] is also a related. The epipolar geometry is described by the following equation:

[p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0

where E is an essential matrix, p_1 and p_2 are corresponding points in the first and the second images, respectively. The result of this function may be passed further to #decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.

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.