Translate Extrinsic points from OPENCV to Own camera Setup

[git-sachin1066]

Dear Team, please help me with one information.

i have a rig setup of 2 camera, they are caliberated
now i have images from first camera Camera1 and second camera Camera2. I executed colmap to obtain the extrinsic estimation for the images for the first camera.
now that i know that Camera2 is caliberated to Camera1 I can calculate the extrinsic parmaeter of images of camera2 from extrinsics of images of camera1

now since the extrinsics are provided to me by Colmap, they are in OPENCV coordinate system. but my caliberation actually expects data from Camera1 coordinate system.

I know the orientation of my Camera1 coordinate system (x = forward , y = left and z = up), i have calculated a rotation matrix which rotates OPENCV( x right, y = down z up ) to align it to Camera1 coordiate system, but i dont know how to handle the translation now, because i know my Camera1 is not located at the origin of the OpenCV coordinate system.

Thanks for all the help