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The OpenCV function findHomography "finds a perspective transformation between two planes". According to this post, if H is the transformation matrix, we have (where X1 is the prior image):

X1 = H · X2

I am struggling to fully comprehend the reference axes of the parameters in the transformation (translation distances, scaling factors and rotation angle -in a simplified affine transformation case without shear-).

What I am trying to obtain is the camera motion from one image to another, relative to the first image. That is, motion between images expressed as the translation in the first image's axes. I assume these translations are the (tx,ty) from the homography matrix, but corrected using the rotation angle and scaling parameters. Could someone enlighten me on how to obtain these translation values?

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  • Does [this answer to a similar question](http://stackoverflow.com/a/10781165/2065121) help? – Roger Rowland Sep 21 '15 at 06:39
  • That answer deals with obtaining the camera pose matrix from the homography matrix and vice versa, but doesn't help me much with this issue. –  Sep 21 '15 at 06:51

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