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Merge pull request #3929 from daeyun:findEssentialMat_doc

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Vadim Pisarevsky 2015-04-21 12:20:02 +00:00
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modules/calib3d/include/opencv2/calib3d.hpp
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@ -1200,7 +1200,7 @@ for the other points. The array is computed only in the RANSAC and LMedS methods
This function estimates essential matrix based on the five-point algorithm solver in @cite Nister03 . This function estimates essential matrix based on the five-point algorithm solver in @cite Nister03 .
@cite SteweniusCFS is also a related. The epipolar geometry is described by the following equation: @cite SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
\f[[p_2; 1]^T K^T E K [p_1; 1] = 0 \\\f]\f[K = \f[[p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0 \\\f]\f[K =
\begin{bmatrix} \begin{bmatrix}
f & 0 & x_{pp} \\ f & 0 & x_{pp} \\
0 & f & y_{pp} \\ 0 & f & y_{pp} \\