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The answer is different from the "pose conversion" matrix.
Given poses P0,P1, the conversion of poses relative to marker 1 to pose relative to marker 0 is Tp = P0*P1-1
P1 converts from world coordinates W1 (relative to marker 1) to camera coordinates, P0-1 converts camera coordinates to W0 (relative to marker 0), so the transform from world coordinates W1 to W0 is:
Tw = P0-1*P1.
