SfM Module: reconstruct() points2d argument clarification.

[atomoclast]

System information (version)

Hello, I am trying to use the reconstruct function in the SfM module. In the examples, I see you can pass a vector of image strings or this InputArrayOfArrays parameter that is defined as "Input vector of vectors of 2d points (the inner vector is per image)."

In the trajectory reconstruction example, I see that the points2d variable is a Mat type. Can I get some clarification of what the contents of the variable should look like?

How would I take features that I found between two images and pass it on to this function?

Thanks in advance!

The URL to the documentation I am using:
https://docs.opencv.org/3.1.0/da/db5/group__reconstruction.html#gaadb8cc60069485cbb9273b1efebd757d