Decompose Homography matrix in opencv python
问题 H = K[R|t] where H (3*3) is homographic matrix, R is Rotation matrix, K is matrix of camera's intrinsic parameters and t is translation vector. I have calculated K using chess board pattern as follows ret, K, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, chess_gray.shape[::-1],None,None) Homograpy matrix H is calculated as pts_src = np.float32(pts_src) pts_dst = np.float32(pts_dst) H, status = cv2.findHomography(pts_src, pts_dst) How to decompose R and t from H and K using