Merge pull request #8279 from sovrasov:calib3d_new_recover_pose

modules/calib3d/include/opencv2/calib3d.hpp

@@ -1464,6 +1464,28 @@ CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray point
                             double focal = 1.0, Point2d pp = Point2d(0, 0),
                             InputOutputArray mask = noArray() );
 
+/** @overload
+@param E The input essential matrix.
+@param points1 Array of N 2D points from the first image. The point coordinates should be
+floating-point (single or double precision).
+@param points2 Array of the second image points of the same size and format as points1.
+@param cameraMatrix Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
+Note that this function assumes that points1 and points2 are feature points from cameras with the
+same camera matrix.
+@param R Recovered relative rotation.
+@param t Recoverd relative translation.
+@param distanceThresh threshold distance which is used to filter out far away points (i.e. infinite points).
+@param mask Input/output mask for inliers in points1 and points2.
+:   If it is not empty, then it marks inliers in points1 and points2 for then given essential
+matrix E. Only these inliers will be used to recover pose. In the output mask only inliers
+which pass the cheirality check.
+@param triangulatedPoints 3d points which were reconstructed by triangulation.
+ */
+
+CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray points2,
+                            InputArray cameraMatrix, OutputArray R, OutputArray t, double distanceThresh, InputOutputArray mask = noArray(),
+                            OutputArray triangulatedPoints = noArray());
+
 /** @brief For points in an image of a stereo pair, computes the corresponding epilines in the other image.
 
 @param points Input points. \f$N \times 1\f$ or \f$1 \times N\f$ matrix of type CV_32FC2 or