title: Compute Homography Matrix from Intrinsic and Extrinsic Matrices
body: <p>I have Intrinsic (<strong>K</strong>) and Extrinsic (<strong>[R|t]</strong>) matrices from camera calibration. How do I compute homography matrix (<strong>H</strong>)? <br/></p>
  <p>I have tried <code>H = K [R|t]</code> with z-component of <strong>R</strong> matrix = 0 and updating H matrix such that the destination image points lie completely within the frame but it didn't give desired H.
  Actually I am trying to stitch multiple images using Homography given intinsic and extrinsic matrices. When done with feature matching and then Homography computation the result is completely fine but I need to calculate matrix <strong>H</strong> from <strong>K</strong> and <strong>[R|t]</strong> matrices.</p>