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