# Revision history [back]

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 supra56 555 ●8 ●6

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 supra56 555 ●8 ●6

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 supra56 555 ●8 ●6

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.