title: How to convert camera pose (Translation matrix) obtained from the essential matrix to world coordinate system
body: <p>I have extracted Rotation and Translation matrices from the essential matrix. The translation vector has a scale ambiguity. Therefore, I couldn't define its "true" values. </p>
  
  <p>My steps were as follow:</p>
  
  <pre><code>F=estimateF(matches1,matches2,'RANSAC')
  E=K2'*F*K1
  [U S V]=svd(E)
  s=(S(1,1)+S(2,2))/2
  S=diag([s s 0])
  E_new=U*S*V'
  [U S V]=svd(E_new);
  R1=U*W*V'
  R2=U*W'*V';
  t1=U(:,3);
  t2=-t1
  </code></pre>
  
  <p>My problem is how to define the translation of the second camera from the first one in mm. </p>