CvInvokeFindEssentialMat Method

public static Mat FindEssentialMat(
	IInputArray points1,
	IInputArray points2,
	IInputArray cameraMatrix,
	FmType method = FmType.Ransac,
	double prob = 0.999,
	double threshold = 1,
	IOutputArray mask = null
)

Public Shared Function FindEssentialMat ( 
	points1 As IInputArray,
	points2 As IInputArray,
	cameraMatrix As IInputArray,
	Optional method As FmType = FmType.Ransac,
	Optional prob As Double = 0.999,
	Optional threshold As Double = 1,
	Optional mask As IOutputArray = Nothing
) As Mat

public:
static Mat^ FindEssentialMat(
	IInputArray^ points1, 
	IInputArray^ points2, 
	IInputArray^ cameraMatrix, 
	FmType method = FmType::Ransac, 
	double prob = 0.999, 
	double threshold = 1, 
	IOutputArray^ mask = nullptr
)

static member FindEssentialMat : 
        points1 : IInputArray * 
        points2 : IInputArray * 
        cameraMatrix : IInputArray * 
        ?method : FmType * 
        ?prob : float * 
        ?threshold : float * 
        ?mask : IOutputArray 
(* Defaults:
        let _method = defaultArg method FmType.Ransac
        let _prob = defaultArg prob 0.999
        let _threshold = defaultArg threshold 1
        let _mask = defaultArg mask null
*)
-> Mat 

Parameters

points1

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

points2

Type: Emgu.CVIInputArray
Array of the second image points of the same size and format as points1

cameraMatrix

Type: Emgu.CVIInputArray
Camera matrix K=[[fx 0 cx][0 fy cy][0 0 1]]. Note that this function assumes that points1 and points2 are feature points from cameras with the same camera matrix.

method (Optional)

Type: Emgu.CV.CvEnumFmType
Method for computing a fundamental matrix. RANSAC for the RANSAC algorithm. LMEDS for the LMedS algorithm

prob (Optional)

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

threshold (Optional)

Type: SystemDouble
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 (Optional)

Type: Emgu.CVIOutputArray
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.

Return Value

Reference