Decomposes a homography into rigid body motion (rotation and translation) utilizing specific assumptions made inside the Zhang99 paper .
Let K and R be the calibration matrix and rotation matrix.
R = [ r1 , r1 , r1 ]
ri is the ith column in R.
Then compute R using the column of the homography matrix: r1 = λ*inv(K)*h1
r2 = λ*inv(K)*h2
r3 = cross(r1,r2)
t = λ*inv(K)*h3
t is the translation vector. The R computed above is only approximate and needs to be turned into a real rotation matrix.
 Zhengyou Zhang, "Flexible Camera Calibration By Viewing a Plane From Unknown Orientations,", International Conference on Computer Vision (ICCV'99), Corfu, Greece, pages 666-673, September 1999.
setCalibrationMatrixpublic void setCalibrationMatrix
(DMatrixRMaj K)Specifies the calibration matrix.
K- upper triangular calibration matrix.
decomposeCompute the rigid body motion that composes the homography matrix H. It is assumed that H was computed using
H- homography matrix.
- Found camera motion.