本文详细介绍了三维空间中坐标变换的基本原理，特别是如何通过旋转矩阵R和位移向量T来实现从一个坐标系到另一个坐标系的刚体运动转换。文中给出了旋转向量om与旋转矩阵R之间的关系，并解释了Rodrigues公式是如何用于这一转换过程。
The two pose parameters om and T are defined such that if we consider a point P in 3D space, its two coordinate vectors XL and XR in the left and right camera reference frames respectively are related to each other through the rigid motion transformation XR = R * XL + T, where R is the 3x3 rotation matrix corresponding to the rotation vector om. The relation between om and R is given by the rodrigues formula R = rodrigues(om).
特别注意 用途： 将左坐标系中的向量变换到右坐标系
XR = R * XL + T
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