decomposeEssentialMat 1230 modules/calib3d/include/opencv2/calib3d.hpp CV_EXPORTS_W void decomposeEssentialMat( InputArray E, OutputArray R1, OutputArray R2, OutputArray t );
decomposeEssentialMat  474 modules/calib3d/src/five-point.cpp     decomposeEssentialMat(E, R1, R2, t);