CV Recover Pose (Essential Matrix)

Recovers the relative pose (rotation + translation DIRECTION) between two CALIBRATED views of a static scene from matched points and the camera matrix - the core step of two-view structure-from-motion and monocular visual odometry. It estimates the essential matrix (cv2.findEssentialMat, RANSAC) and decomposes it with the cheirality check (cv2.recoverPose), keeping the rotation/translation for which the inliers lie in FRONT of both cameras. Translation is a UNIT vector: monocular geometry fixes direction, not absolute scale. Same failure-tolerant contract as 'CV Find Fundamental Matrix': fewer than 5 points, a degenerate configuration or too few inliers returns found=false, an identity rotation and a zero translation instead of halting - branch on 'found' with a control-flow node. Note: a pure rotation (no camera translation) or a single plane is degenerate; use views with depth and a translated camera. Feed rotation + translation into 'CV Triangulate Points (Two-View)'.