computer vision - Recover Pose OpenCV 3.0 -


i have calibrated pinhole camera using opencv 3.0 , got 4 intrinsic parameters (f_x,f_y,u_0,v_0) plus distortion coefficients. using calibration, estimate essential matrix 2 images @ different positions. want recover (r|t) using recover pose function opencv 3.0. interface of function expects single focal length, have 2 calibration procedure. how can focal length f=f_y/s_y = f_x/s_x (definition according opencv) f_x f_y can use recover pose function?

you can use horizontal focal length f_x. ratio f_y/f_x pixel aspect ratio, estimate squareness of pixels.

note that, unless have absolute scale reference in image pair (e.g. object of known size), can recover pose scale, is, r , s*t unknown scale s.


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