What does recoverPose() return?

asked 2015-02-27 16:37:56 -0500

Dima gravatar image

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?

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