--- answer is --- [ 11. 22. 33.] [[ 1. 0. 0. ] [ 0. 0.70710678 -0.70710678] [ 0. 0.70710678 0.70710678]] --- cv2.decomposeEssentialMat() tells: R0 [[-0.85714286 0.50507627 0.10101525] [ 0.28571429 0.30304576 0.90913729] [ 0.42857143 0.80812204 -0.40406102]] R1 ... right choice for [11,22,33],Rx=45[deg] [[ 1.00000000e+00 -2.77555756e-16 -2.77555756e-17] [ 1.66533454e-16 7.07106781e-01 -7.07106781e-01] [ -1.11022302e-16 7.07106781e-01 7.07106781e-01]] T ... why normalized? [[-0.26726124] [-0.53452248] [-0.80178373]] |tryT| = 1.0 T by hack ... same as answerT [11.0, 21.999999999999996, 33.0]