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Using rotation and translation between two cameras obtained from stereoCalibrate()

Hello, I have two questions:

1) When I calibrate a stereo camera with stereoCalibrate(), I get R and T. My question is: with this rotation and translation which of the following is correct

$\begin{pmatrix} X_{1}\\ Y_{1}\\ Z_{1}\\ \end{pmatrix} =R \begin{pmatrix} X_{2}\\ Y_{2}\\ Z_{2}\\ \end{pmatrix} +T$ or $\begin{pmatrix} X_{2}\\ Y_{2}\\ Z_{2}\\ \end{pmatrix} =R \begin{pmatrix} X_{1}\\ Y_{1}\\ Z_{1}\\ \end{pmatrix} +T,$

where X1, Y1, Z1 are the 3D coordinates of the point in the 1st camera coordinate system, and X2, Y2, Z2 are the 3D coordinates of the point in the 2nd camera coordinate system respectively. The second option seems to be more reasonable, but I would like to know for sure.

2) If I have a known pose of the object (R1, T1) relative to the 1st camera, and I have the rotation matrix and translation vector between 1st and the 2nd camera (R, T), how can I get the pose of the object relative to the 2nd camera (R2, T2)?

Thank you very much for the answers!