ARToolKit里的RT矩阵

Coordinate Systems

Relationships: Marker & Camera

Rotation & Translation

Perspective Projection

How to get T

Camera Parameter Implementation

Camera parameter structure
 • typedef struct {
int xsize, ysize;
double mat[3][4];
double dist_factor[4];
} ARParam;

 Adjust camera parameter for the input image size
• int arParamChangeSize( ARParam *source,
int xsize, int ysize,
ARParam *newparam );

 Read camera parameters from the file
• int arParamLoad( char *filename, int num,
ARParam *param, ...);