Intrinsic and extrinsic (Camera(K), rotation(R), and translation(t)) calculation from projection matrix(P), the K, R and t can’t recompose the P
The code below is how I calculate KRt from P:
def rq_decomposition(M):
Q, R = np.linalg.qr(np.flipud(M).T)
R = np.flipud(R.T)
Q = Q.T
R = np.fliplr(R)
Q = np.fliplr(Q)
return R, Q