I ganerated 3d points, projected them to 2 cameras (dst and src) with known positions and tryed to recover camera positions.
dst camera have no rotarions and translations, so one of rotations returned by decomposeEssentialMat should be src rotarion.
However rotations and translation returned by decomposeEssentialMat both absolutely incorrect
import cv2
import numpy as np
objectPoints = np.float64([[-1,-1,5],[1,-1,5],[1,1,5],[-1,1,5],[0,0,0],[0,0,5]])
srcRot = np.float64([[0,0,1]])
srcT = np.float64([[0.5,0.5,-1]])
dstRot = np.float64([[0,0,0]])
dstT = np.float64([[0,0,0]])
cameraMatrix = np.float64([[1,0,0],
[0,1,0],
[0,0,1]])
srcPoints = cv2.projectPoints(objectPoints,srcRot,srcT,cameraMatrix,None)[0]
dstPoints = cv2.projectPoints(objectPoints,dstRot,dstT,cameraMatrix,None)[0]
E = cv2.findEssentialMat(srcPoints,dstPoints)[0]
R1,R2,t = cv2.decomposeEssentialMat(E)
print cv2.Rodrigues(R1)[0]
print cv2.Rodrigues(R2)[0]
print t
the resut for R and t
R1=[[-2.8672671 ] [ 0.82984579] [ 0.12698814]] R2=[[ 0.84605365] [ 2.92326821] [-0.24527328]] t=[[ 8.47069335e-04] [ -3.75356183e-03] [ -9.99992597e-01]]
The rotation are correct just in case of the same height of cameras positions, but direction is always wrong. Is it bug or my mistake?