CentralCamera.decomposeE

CentralCamera.decomposeE(E: ndarray, P: ndarray | FeatureMatch | None = None) → SE3

Decompose essential matrix

Parameters:

• E (ndarray(3,3)) – essential matrix

• P (array_like(3), FeatureMatch) – world point or feature match object to resolve ambiguity

Returns:

camera relative pose

Return type:

SE3

Determines relative pose from essential matrix. This operation has multiple solutions which is resolved by passing in:

• a single 3D world point in front of the camera

• a FeatureMatch object

References:

• P. Corke, Robotics, Vision & Control for Python, Springer, 2023, Section 14.2.2.

Seealso:

E points2E FeatureMatch opencv.decomposeEssentialMat opencv.recoverPose