Camera ↔ Camera: Align an RGB image with a thermal (or other) camera image. LiDAR ↔ Camera: Project 2D RPLIDAR scans onto a camera image of the same scene. Both tutorials include Jupyter notebooks and ...

The estimation of an homography from coplanar points can be easily and precisely achieved using a Direct Linear Transform algorithm \cite HZ01 \cite Sut74 based on the resolution of a linear system.