bool homograpgyValid(cv::Mat& homography)
        {
            const double det = homography.at<double>(0, 0) * homography.at<double>(1, 1) - homography.at<double>(1, 0) * homography.at<double>(0, 1);
            if (det < 0)
                return false;

            const double N1 = sqrt(homography.at<double>(0, 0) * homography.at<double>(0, 0) + homography.at<double>(1, 0) * homography.at<double>(1, 0));
            if (N1 > 4 || N1 < 0.1)
                return false;

            const double N2 = sqrt(homography.at<double>(0, 1) * homography.at<double>(0, 1) + homography.at<double>(1, 1) * homography.at<double>(1, 1));
            if (N2 > 4 || N2 < 0.1)
                return false;

            const double N3 = sqrt(homography.at<double>(2, 0) * homography.at<double>(2, 0) + homography.at<double>(2, 1) * homography.at<double>(2, 1));
            if (N3 > 0.002)
                return false;

            return true;
        }