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!

The pose matrix represents the pose of the target as seen from the camera. It is a 3x4 row-major matrix. The 3x3 sub-matrix in the left three columns is a pure rotation matrix (ortho-normal), while the right-most column is the translation vector.

I'm trying to find out about the coordinate frame of the camera... I believe it's the typical OpenGL setup with the camera at the origin pointing down the Z axis (not sure if that's Z or -Z though). I'll update once I find out.

- Kim