Hello,

So there is a 'world coordinate system' in normal 3D space 'xyz'.

If I apply a rigid-body transformation to this coordinate system I get a new coordinate system, (A).

By 'rigid-body transformation' I mean first applying a 3X3 matrix R_1 on any point in world coordinate system and then translating it by 3-vector T_1.

Now imagine I apply a different 'rigid-body transformation' on the same global coordinate system , denoted by rotation matrix R_2 and translation vector T_2, to get a new coordinate system (B).

Now my question is what Rotation/Translation will transform coordinate system (A) to (B)?

will it be the following?

Rotation = R_2 X (inverse of R_1)

Translation = T_2 - R_2 X (inverse of R_1) X T_1

There is this software I am using and it needs these rotation and translation matrix/vector. But above values don't work!

Thanks for your help.