Decompose an essential matrix to possible rotations and translation

S = cv.decomposeEssentialMat(E)

Input

• E The input essential matrix, 3x3.

Output

• S Decomposed E. A scalar struct with the following fields:
  • R1 One possible rotation matrix, 3x3.
  • R2 Another possible rotation matrix, 3x3.
  • t One possible translation, 3x1.

This function decompose an essential matrix E using SVD decomposition [HartleyZ00]. Generally 4 possible poses exists for a given E. They are [R1,t], [R1,-t], [R2,t], [R2,-t]. By decomposing E, you can only get the direction of the translation, so the function returns unit t.

References

[HartleyZ00]:

Richard Hartley and Andrew Zisserman. "Multiple view geometry in computer vision". Cambridge university press, 2003.