title: Creating stereoParameters class in Matlab: what coordinate system should be used for relative camera rotation parameter?
body: <p><code>stereoParameters</code> takes two extrinsic parameters: <code>RotationOfCamera2</code> and <code>TranslationOfCamera2</code>.</p>
  
  <p>The problem is that <a href="http://se.mathworks.com/help/vision/ref/stereoparameters-class.html" rel="noreferrer">the documentation</a> is a not very detailed about what <code>RotationOfCamera2</code> really means, it only says: <code>Rotation of camera 2 relative to camera 1, specified as a 3-by-3 matrix.</code></p>
  
  <p>What is the coordinate system in this case ? </p>
  
  <p>A rotation matrix can be specified in any coordinate system. </p>
  
  <p>What does it exactly mean "the coordinate system of Camera 1" ? What are its x,y,z axes ?</p>
  
  <p>In other words, if I calculate the Essential Matrix, how can I get the corresponding <code>RotationOfCamera2</code> and <code>TranslationOfCamera2</code> from the Essential Matrix ?</p>