Fix Cv2.RecoverPose

[shimat]

Fix #1410

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This pull request introduces an important fix to the RecoverPose interop signature and adds a new test to verify the triangulated points output. The changes ensure that the function signature matches the expected parameter order and that the triangulated points output is properly tested.

Interop signature fix:

• Updated the argument order in the calib3d_recoverPose_InputArray3 function declaration in calib3d.h to match the correct parameter order, specifically moving distanceTresh after R and t.

Testing improvements:

• Added a new test method RecoverPoseWithTriangulatedPoints in Calib3dTest.cs to verify that the RecoverPose function correctly outputs triangulated points, addressing a specific GitHub issue and increasing test coverage for this functionality.

Summary by CodeRabbit

• Breaking Changes

  • Updated parameter ordering in the camera pose recovery function. Code using this function may require adjustment.

• Tests

  • Added test coverage for pose recovery operations with triangulated points output verification.

[coderabbitai]

Caution

Review failed

The pull request is closed.

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Path: .coderabbit.yaml

Review profile: CHILL

Plan: Pro

Run ID: 88ec8f7b-0e55-422a-8a1c-1b80d3d9ce00

📥 Commits

Reviewing files that changed from the base of the PR and between bd2842f and f160aff.

📒 Files selected for processing (2)

• src/OpenCvSharpExtern/calib3d.h
• test/OpenCvSharp.Tests/calib3d/Calib3dTest.cs

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📝 Walkthrough

Walkthrough

The changes fix the Cv2.RecoverPose wrapper function by reordering parameters in the C++ extern declaration to match the correct OpenCV API signature, resolving an AccessViolationException. A new test validates the corrected functionality.

Changes

Cohort / File(s)	Summary
C++ Wrapper Signature Fix src/OpenCvSharpExtern/calib3d.h	Parameter distanceTresh repositioned from position 5 (after cameraMatrix) to position 7 (after t) in calib3d_recoverPose_InputArray3, aligning with the correct OpenCV function signature.
Test Coverage test/OpenCvSharp.Tests/calib3d/Calib3dTest.cs	Added RecoverPoseWithTriangulatedPoints() test method that verifies Cv2.RecoverPose successfully computes pose recovery with triangulated points output, asserting non-zero inlier count and non-empty result matrices.

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~12 minutes

✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch fix_RecoverPose

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