title: rotation and translation matrix from homography opencv
body: <p>I'm working on an android application in java,I calculated homography with opencv using findHomography(), how I can find the matrix of the camera pose containing the rotation and translation through homography</p>
  
  <pre><code> Mat homography = Calib3d.findHomography(ReferencePoints2, ReferencePoints1,0,Calib3d.RANSAC);
  </code></pre>