Added function decomposeHomographyMat. New files added are homography_decomp.cpp and test_homography_decomp.cpp.

Modified files calib3d.hpp and camera_calibration_and_3d_reconstruction.rst.

modules/calib3d/include/opencv2/calib3d.hpp

@@ -314,6 +314,11 @@ CV_EXPORTS_W  int estimateAffine3D(InputArray src, InputArray dst,
                                    double ransacThreshold = 3, double confidence = 0.99);
 
 
+CV_EXPORTS_W int decomposeHomographyMat(InputArray _H,
+                                        InputArray _K,
+                                        OutputArrayOfArrays _rotations,
+                                        OutputArrayOfArrays _translations,
+                                        OutputArrayOfArrays _normals);
 
 class CV_EXPORTS_W StereoMatcher : public Algorithm
 {