Decompose Homography

http://urbanar.blogspot.com/2011/04/from-homography-to-opengl-modelview.html

https://gist.github.com/740979/97f54a63eb5f61f8f2eb578d60eb44839556ff3f

http://cobweb.ecn.purdue.edu/~kak/courses-i-teach/ECE661/

http://www.daesik80.com/matlabcode/matlabcode.htm

http://www.clemson.edu/ces/crb/students/vilas/index.htm

http://opencv-users.1802565.n2.nabble.com/Getting-R-and-T-from-homography-or-Fundamental-matrixes-td2319709.html

An Invitation to 3D Vision
http://vision.ucla.edu//MASKS/chapters.html

Hartley and Zisserman
http://www.robots.ox.ac.uk/~vgg/hzbook/