Without any extra assumption on the world scene geometry, you cannot affirm that there is a projective transformation between the two views. This is only true if the scene is planar. A good reference on that topic is the book Multiple View Geometry in Computer Vision by Hartley and Zisserman. If the world scene is … Read more
Q #1: Right, the findHomography tries to find the best transform between two sets of points. It uses something smarter than least squares, called RANSAC, which has the ability to reject outliers – if at least 50% + 1 of your data points are OK, RANSAC will do its best to find them, and build … Read more
If you have your Homography, you can calculate the camera pose with something like this: void cameraPoseFromHomography(const Mat& H, Mat& pose) { pose = Mat::eye(3, 4, CV_32FC1); // 3×4 matrix, the camera pose float norm1 = (float)norm(H.col(0)); float norm2 = (float)norm(H.col(1)); float tnorm = (norm1 + norm2) / 2.0f; // Normalization value Mat p1 = … Read more