I know that the pose matrix of a trackble is basically:
1. a rotation matrix
this rotation matrix describes how to rotate from
the camera's coordinate frame to the trackble's
coordinate frame.
2. a translation vector
this vector describes how to translate from the
origin of the camera to the origin of the trackble.
my questions:
1. is above statement about the pose matrix correct?
2. about the rotation matrix, I know how the coordinate
frame of the trackble is defined,
since it's metioned in the dev's guide:
https://ar.qualcomm.at/resources/images/coordinateSystems.jpg
but how the coordinate frame of the camera is defined?
thank you very much!
Okay, I've gotten confirmation. The camera sits at the origin and points in the positive Z direction. Positive X is to the right. Positive Y is down. This makes it a right-handed coordinate system. It is similar to the default OpenGL coordinate system, but rotated 180 degrees around the X axis.
This also means that the camera's coordinate system is the same as the target's, just rotated by 90 degrees around the X axis.
Hope that's helpful, let us know if you need more info!
- Kim