Find optimal R, t between two 3x4 homogeneous metrics

[khayamgondal]

I have two camera homogeneous matrices with rotation 3x3 and translation 3x1 = 3x4. How can I find the optimal between those two?
Thanks

[nghiaho12]

This is basic matrix algebra. The solution is of the form inv(A)*B.

[khayamgondal]

Thanks, I am new to vector algebra. Do I need to do it to do it separately for translation and Rotation? Also once I have the H matrix by inv(A)*B should I pass H through singular value decomposition (SVD) to get U, Vt and optimal rotation via Vt.T.dot(U)?