## rotation and translation matrix from homography opencv

问题 I'm working on an android application in java,I calculated homography with opencv using findHomography(), how I can find the matrix of the camera pose containing the rotation and translation through homography Mat homography = Calib3d.findHomography(ReferencePoints2, ReferencePoints1,0,Calib3d.RANSAC); 回答1: You need to know the intrinsic parameters of the camera to do that. Considers the z=0 plane. The point X=(x,y,0,1)' is projected to the image as p=P*X. Now use the decomposition P=K[R t],