Nodes/comfyui_cv/cv2.findEssentialMat (1/3)
ComfyUI Node

cv2.findEssentialMat (1/3)

Raw wrapper of cv2.findEssentialMat(points1, points2, cameraMatrix, method?, prob?, threshold?, maxIters?, mask?). Parameters marked '?' are optional; blank means OpenCV default. See the OpenCV documentation for details.

By bmad4ever·Created 3 months ago·Updated 2 days ago· 0
cv2.findEssentialMat (1/3)
  • points1
  • points2
  • cameraMatrix
  • mask
  • E
  • mask
◄methodRANSAC►
◄prob0.9990►
◄threshold1.0000►
◄maxIters1000►
Categoryimage/CV/low-level/cv2 F

Inputs (8)

NameTypeDefaultDescription
points1NPARRAYArray of N (N >= 5) 2D points from the first image. The point coordinates should be floating-point (single or double precision). A data array (points / matrix), NOT an image - only an NPARRAY link is accepted here.
points2NPARRAYArray of the second image points of the same size and format as points1. A data array (points / matrix), NOT an image - only an NPARRAY link is accepted here.
cameraMatrixNPARRAYCamera intrinsic matrix $\cameramatrix{A}$ . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera intrinsic matrix. If this assumption does not hold for your use case, use another function overload or #undistortPoints with `P = cv::NoArray()` for both cameras to transform image points to normalized image coordinates, which are valid for the identity camera intrinsic matrix. When passing these coordinates, pass the identity matrix for this parameter. A data array (points / matrix), NOT an image - only an NPARRAY link is accepted here.
methodoptCOMBORANSACMethod for computing an essential matrix. - for the RANSAC algorithm. - for the LMedS algorithm.
proboptFLOAT0.9990-1e+38–1e+38Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of confidence (probability) that the estimated matrix is correct. Preset to the OpenCV default (0.999).
thresholdoptFLOAT1.0000-1e+38–1e+38Parameter used for RANSAC. It is the maximum distance from a point to an epipolar line in pixels, beyond which the point is considered an outlier and is not used for computing the final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the point localization, image resolution, and the image noise. Preset to the OpenCV default (1.0).
maxItersoptINT1000-2147483648–2147483647The maximum number of robust method iterations. This function estimates essential matrix based on the five-point algorithm solver in . Preset to the OpenCV default (1000).
maskoptNPARRAY,IMAGE,MASKOutput array of N elements, every element of which is set to 0 for outliers and to 1 for the other points. The array is computed only in the RANSAC and LMedS methods. Accepts a ComfyUI IMAGE/MASK directly (frame 0 of a batch) or an NPARRAY. Arithmetic ops (add, multiply, etc.) process the full IMAGE batch when both inputs have the same batch size.

Outputs (2)

NameTypeDescription
ENPARRAY—
maskNPARRAY—