https://stackoverflow.com/questions/35942095/opencv-strange-rotation-and-translation-matrices-from-decomposehomographymat stackoverflow上使用findHomography 以及decomposeHomographyMat使用的例子 https://www.jianshu.com/p/b10d5bb7f58c https://www.jianshu.com/p/fbf56587a268?t=123 https://blog.csdn.net/CharmingSun/article/details/105291224