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I'm sorry, I know this is a old post but I have a dubpt about it.

jensenb wrote "Basically this definition gives you the vector that maps points from the left camera coordinate system into the right camera coordinate system"

It should be the opposite. If I have two points Pleft and Pright, in 3D coordinate system; Pleft - Pright = vector from Pright to Pleft. (section "subtraction" in this link If that i wrote above is right, T vector should be the vector that maps the points in right camera to left camera.

Am I wrong?