How to handle 2D and 3D scene?
Question: In order to compute relative rotation and translation between two images, if object points locate in 3D general positions, we should use essential matrix method; if object points locate in a 2D plane, we should use homography matrix method. But in practice, sometimes objects points locate in 3D but sometimes 2D. Is there a unified way to handle it? Or we need to switch the two methods?