title: Finding relative rotation between two cameras
body: <p>I have two images I1 and I2, with both extrinsic and intrinsic camera parameters(R1,t1,R2,t2 and K). For a simpler case when cameras have zero translation, I can find the relative rotation between two cameras using;</p>
  
  <pre><code>R = (R1.I) * R2
  </code></pre>
  
  <p>But if they have translations t1 and t2, then above will fail. We'll need to apply negative translations to bring them to world origin and then above will work. What I don't understand is on what should I apply negative translations? </p>