findEssentialMat3

geometryfunctionOpenCV 5.0.0

import { findEssentialMat3 } from '@banou/opencv-wasm'

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

ARGUMENTSpoints1, points2, cameraMatrix1, cameraMatrix2

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FUNCTIONfindEssentialMat3

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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 from potentially two different cameras.

findEssentialMat3(points1: Mat, points2: Mat, cameraMatrix1: Mat, cameraMatrix2: Mat, dist_coeff1: Mat, dist_coeff2: Mat, mask: Mat, params: UsacParams): 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} .

cameraMatrix2

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

dist_coeff1

dist coeff1 argument (Mat).

dist_coeff2

dist coeff2 argument (Mat).

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.

params

params argument (UsacParams).

Returns

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

Upstream declaration ↗

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