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.