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src/p/c/PCV-HEAD/examples/ch4_ar_cube.py   PCV(Download)
 
# project bottom square in first image
cam1 = camera.Camera( hstack((K,dot(K,array([[0],[0],[-1]])) )) )
# first points are the bottom square
box_cam1 = cam1.project(homography.make_homog(box[:,:5])) 
 
# compute second camera matrix from cam1 and H
cam2 = camera.Camera(dot(H,cam1.P))
A = dot(linalg.inv(K),cam2.P[:,:3])
A = array([A[:,0],A[:,1],cross(A[:,0],A[:,1])]).T