Python - Given 2 transformation matrices of the same object in different scene, deduce the camera movement.

find-camera-tranformation-based-on-marker-movement.py

import numpy as np

transform1 = [ -0.24934738874435425,-0.04462388902902603,-0.9673854112625122,0,
-0.0016946435207501054,0.9989563822746277,-0.045643400400877,0,
0.9684126377105713,-0.009741689078509808,-0.24916277825832367,0,
0.6389213800430298,1.247190237045288,26.812557220458984,1]

transform2 = [ -0.9929033517837524,-0.05427047982811928,0.1058192104101181,0,
-0.05242447182536125,-0.5989430546760559,-0.7990738153457642,0,
0.10674579441547394,-0.7989505529403687,0.5918474197387695,0,
3.77003812789917,3.94081449508667,92.34391784667969,1]

m1 = np.matrix(np.array(transform1).reshape((4,4)))
m2 = np.matrix(np.array(transform2).reshape((4,4)))
inv = np.linalg.inv(m1)

object_movement = inv * m2

## camera movement should be the reverse of the object movement
# translation = object_movement.copy()
# rotation = object_movement.copy()
# translation[0][0:4] = [1.0, 0.0, 0.0, 0.0]
# translation[1][0:4] = [0.0, 1.0, 0.0, 0.0]
# translation[2][0:4] = [0.0, 0.0, 1.0, 0.0]
# rotation[3][0:4] = [0.0, 0.0, 0.0, 1.0]
# camera_movement = np.linalg.inv(translation) * np.linalg.inv(rotation)

camera_movement = np.linalg.inv(object_movement)

print("camera_movement:", camera_movement)