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recoverpose

Just a simple question, in these two statements

E = cv::findEssentialMat( points1, points2, focal, pp, cv::RANSAC, 0.999, 1.0, mask); cv::recoverPose(E, points1, points2, R, t, focal, pp, mask);

Is the rotation and translation calculated from points1 to points2 or points2 to points1?

Thank you.