title: openCV 3.0 recoverPose wrong results
body: <p>Does anyone can using openCV 3.0 recoverPose function with good results?
  I've got:</p>
  
  <pre><code>cv::Mat r;
  cv::Mat t;
  cv::Mat E = cv::findEssentialMat(features1, features2);
  cv::recoverPose(E, features1, features1, r, t);
  
  float xAngle = radToDeg(atan2f(r.at&lt;float&gt;(2, 1), r.at&lt;float&gt;(2, 2)));
  float yAngle = radToDeg(atan2f(-r.at&lt;float&gt;(2, 0), sqrtf(r.at&lt;float&gt;(2, 1) * r.at&lt;float&gt;(2, 1) + r.at&lt;float&gt;(2, 2) * r.at&lt;float&gt;(2, 2))));
  float zAngle = radToDeg(atan2f(r.at&lt;float&gt;(1, 0), r.at&lt;float&gt;(0, 0)));
  </code></pre>
  
  <p>As input I use one image 1836x1836 dimensions and another image 1836x1836 which is just rotated 90 degrees to the left. I have rotated it using computer program so it is exactly rotate 90 degrees.</p>
  
  <p>I expect result:</p>
  
  <pre><code>xAngle: 0
  
  yAngle: 0
  
  zAngle: 90 (or -90 depending on Z direction)
  </code></pre>
  
  <p>Unfortunately my results are:</p>
  
  <pre><code>xAngle: 90
  
  yAngle: 0.113659
  
  zAngle: 180
  </code></pre>
  
  <p>Can anyone help me with it?</p>