ComfyUI Node
cv2.recoverPose (2/4)
Raw wrapper of cv2.recoverPose(E, points1, points2, cameraMatrix, mask?). Parameters marked '?' are optional; blank means OpenCV default. See the OpenCV documentation for details.
cv2.recoverPose (2/4)
- E
- points1
- points2
- cameraMatrix
- mask
- retval
- R
- t
- mask
Categoryimage/CV/low-level/cv2 R
Inputs (5)
| Name | Type | Default | Description |
|---|---|---|---|
| E | NPARRAY | The output essential matrix. A data array (points / matrix), NOT an image - only an NPARRAY link is accepted here. | |
| points1 | NPARRAY | Array of N 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. | |
| points2 | NPARRAY | Array 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. | |
| cameraMatrix | NPARRAY | Camera intrinsic matrix $\cameramatrix{A}$ . Note that this function assumes that points1 and points2 are feature points from cameras with the same camera intrinsic matrix. A data array (points / matrix), NOT an image - only an NPARRAY link is accepted here. | |
| maskopt | NPARRAY,IMAGE,MASK | Input/output mask for inliers in points1 and points2. If it is not empty, then it marks inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to recover pose. In the output mask only inliers which pass the chirality check. This function decomposes an essential matrix using and then verifies possible pose hypotheses by doing chirality check. The chirality check means that the triangulated 3D points should have positive depth. Some details can be found in . This function can be used to process the output E and mask from . In this scenario, points1 and points2 are the same input for findEssentialMat.: 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 (4)
| Name | Type | Description |
|---|---|---|
| retval | INT | — |
| R | NPARRAY | — |
| t | NPARRAY | — |
| mask | NPARRAY | — |