title: Is there camera RELATIVE rotation matrix?
body: <p>Suppose that I have two cameras. I don't know exactly the poses of these two cameras. So their rotation matrice denoted as <strong>R1</strong> and <strong>R2</strong>, respectively, are unknown. But I know the relative angles of these cameras along three axes. I mean if the angles along three axes of the two camera are (alpha1, betta1, gamma1) and (alpha2, betta2, gamma2), then the relative angles of these camera (deltaX, deltaY, deltaZ)=(alpha2-alpha1, betta2-betta1, gamma2-gamma1) are known. </p>
  
  <p>My question is that can we form a "relative" rotation matrix <strong>R12</strong> so that <strong>R2=R12*R1</strong>?</p>
  
  <p>Because there're many methods to construct a rotation matrix. And the results of these methods are different (I'm still don't understand why can a camera have different rotation matrices). In this case, I construct the rotation matrix by multiply three rotation matrix along three axes. More specifically, R=Rz<em>Ry</em>Rx.</p>
  
  <p>As I test with the code in Matlab, </p>
  
  <p>R(alpha2, 0, 0)*R(alpha1, 0, 0)=R(alpha1+alpha2, 0, 0). </p>
  
  <p>But </p>
  
  <p>R(alpha2, betta2, gamma2)*R(alpha1, betta1, gamma1) != R(alpha1+alpha2, betta1+betta2, gamma1+gamma2).</p>
  
  <p>Thanks!</p>