decomposeProjectionMatrix
对cameraMatrix和transVector搞不太懂
自己跑了个程序(贴了一部分),结果如下:
cv::solvePnP(model_points, image_points, camera_matrix, dist_coeffs, rotation_vector, translation_vector);
cv::Mat rotation_vec; //3 x 1
cv::Mat pose_mat = cv::Mat(3<