I have obtained multiple views of a scene using different poses of the same camera in Blender. The poses of cameras are given by (tx, ty, tz) and 4-tuple quaternion (w, x, y, z) with respect to the world coordinate system. Now, given I have the poses of all the camera views, I want to generate the camera view of a camera C2 with rotation and translation as R2 and T2, given I know the pose of another camera C1 with R1 and T1. Then I want to compare how close the generated image is to the groundtruth image (as generated by Blender). For generating the image, I use a grid of points and warp the grid using the transformation matrix. Then I use GPU to warp the image. Let's consider the reference camera's grid points be p1. The way I find the warped points is by doing the following:
p2 = K*inv(R2)*R1*p1 + K*inv(R2)*(T1 - T2)

where K is the intrinsic parameters.
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