Is the intention of recovering the charity or good deed in this world for one's children or oneself, in addition to the intention of helping the needy, considered an intention displeasing to Allah?

There is no harm in combining the intention of otherworldly reward with immediate worldly benefit when performing good deeds, and this is not considered contrary to sincerity (ikhlas). However, the most complete form is to intend only the reward of the Afterlife. As for limiting the intention solely to worldly benefit, this is blameworthy and contrary to sincerity.