What does recoverPose() return?
What do the R
and t
returned by recoverPose()
mean? Are they the location and orientation of camera 2 in camera 1's coordinates? Or are they the extrinsics of camera 2, which would be the inverse of camera 2's location and orientation?
In other words, if I get R
and t
from recoverPose()
, then is the location of camera 2's optical center in camera 1's coordinates t
or -R*t
?