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The results of decomposeHomographyMat are an rvecs and a tvecs. The rvecs represents the rotation of the homography from the original coordinate system. The tvecs is the translation from the original.
In other words. The camera is assumed to be at no rotation, no translation looking at a planar scene. The output is where the camera would have to be to see the scene as if it were warped by the homography. The coordinate system is that described at the top of THIS page.
