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