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Find the relative position between two cameras

I have one Kinect camera and one webcam, I'm trying to find the rotation / translation matrix between Kinect and the webcam using OpenCV. Here is the setup:

setup

Two cameras are facing in the same direction. I can get the internal matrix for both cameras, but I'm not sure how to get the relative position between them?

I did some research and found the findEssentialMat () function . Apparently, it returns an essential matrix (but this function seems unsuitable, since it assumes that the focal and main point are the same for both cameras), which can be used with:

  • recoverPose ()
  • decposeEssentialMat () -> If I understood, it would return 4 different solutions, should I use this function?

!

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