Compute Homography using Rotation, translation and Camera Matrix

Hello everyone,

I have calibrated two cameras and computed their rotation matrices (R) and translation vectors (t) using solvePnP, based on the corners of a checkerboard pattern observed in the images and the corresponding 3D world positions of these corners, expressed in meters. Now, I wish to compute the homography matrix utilizing R and t, rather than deriving it from point correspondences as findHomography does, even though findHomography gives perfect results for my application. I’m looking for a method to use rotation and translation directly for this purpose.

Additionally, accurately mapping positions from the image to 3D world coordinates could also serve my needs.

I would appreciate any suggestions on how to achieve this.