Finding the camera orientation from a homography, opencv

Question

If I have a camera which is already calibrated, so that I already know distortion coefficients, and the camera matrix. And that I have a set of points that all are in a plane, and I know the realworld metrics and pixel-location of those points, I have constructed a homography.

Given this homography, camera matrix and distortion coefficients, how can I find the camera pose in the easiest way? Prefferable by using openCV.

Can I for instance use the "DecomposeProjectionMatrix()" function? It accepts only a 3x4 projection matrix, but I have a simple 3x3 homography

Answer 1

In this older post you have a method for that. It is a mathematical conversion that gives you the pose matrix, which is translation and rotation.