:param points1:1xN array containing the first set of points.
:param points2:1xN array containing the second set of points.
:param newPoints1:The optimized points1.
:param newPoints2:The optimized points2.
The function implements the Optimal Triangulation Method (see Multiple View Geometry for details). For each given point correspondence points1[i] <-> points2[i], and a fundamental matrix F, it computes the corrected correspondences newPoints1[i] <-> newPoints2[i] that minimize the geometric error :math:`d(points1[i], newPoints1[i])^2 + d(points2[i],newPoints2[i])^2` (where :math:`d(a,b)` is the geometric distance between points :math:`a` and :math:`b` ) subject to the epipolar constraint :math:`newPoints2^T * F * newPoints1 = 0` .
decomposeProjectionMatrix
decomposeProjectionMatrix
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Decomposes a projection matrix into a rotation matrix and a camera matrix.
Decomposes a projection matrix into a rotation matrix and a camera matrix.