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 | 1 | initial version |
C1 = R1 * C2 + T1; C2 = R2 * C3 + T2; C1 = R1*（R2 * C3 + T2）+T1; C3 to C1：C1 = R1 * R2 * C3 + R1 * T2+ T1; the final transform:R = R1 * R2,T = R1 * T2+ T1; of course you should know OpenCV's RT rule.
| | 2 | No.2 Revision |
C1 = R1 * C2 + T1;
C2 = R2 * C3 + T2;
C1 = R1*（R2 * C3 + T2）+T1;
C3 to C1：C1 = R1 * R2 * C3 + R1 * T2+ T1;
T1;
the final transform:R transform:R = R1 * R2,T = R1 * T2+ T1;
T1; of course you should know OpenCV's RT rule.
| | 3 | No.3 Revision |
C1 = R1 * C2 + T1; C2 = R2 * C3 + T2; C1 = R1*（R2 * C3 + T2）+T1; C3 to C1：C1 = R1 * R2 * C3 + R1 * T2+ T1;
the final transform:R = R1 * R2,T = R1 * T2+ T1;
of course you should know OpenCV's RT rule.
| | 4 | No.4 Revision |
C1 = R1 * C2 + T1; C2 = R2 * C3 + T2; C1 = R1*（R2 * C3 + T2）+T1; C3 to C1：C1 = R1 * R2 * C3 + R1 * T2+ T1;
the final transform:R = R1 * R2,T = R1 * T2+ T1;
of course you should know OpenCV's RT rule.
