Hallo and howdy,

I successfully integrated Vuforia into my jPCT-AE project and instead of changing the camera Position I change the position of the 3D-Objects in relation to the camera.

Therefore I use the pose matrix of the Vuforia SDK which is a 3x4 matrix:

poseMatrix = [R|t]

R is the 3x3 rotation matrix

t is the 1x3 translation matrix

I track several markers and put one 3D-Object on each of them. To set the position of the marker I use the translation matrix. This works like a charm.

But I have problems setting the rotation of the objects. I use the setRotationMatrix method of the Object3D class.

Therefore I first hardcode my Vuforia 3x3 rotation matrix in a 4x4 jPCT rotation matrix like described in this

jPCT-Thread.

This works. But the coordinate system of jPCT is rotated 180 degrees around the x axis with respect to Vuforia's coordinate system.

That's why the 3D-Objects just rotate in the wrong direction. With transposing Vuforia's 3x3 rotation matrix I get the right rotation but the objects seem to be behind the marker. This is pretty ugly.

I could just move the objects in front of the marker but this is not the way I want to solve this problem, because I have several (probably) different sized objects.

**My Question:** Can Vuforia's rotation matrix be changed (rotated) to a jPCT's rotation matrix with respect to their different coordination systems?

Greetings

Shizzn