OpenGL Perspective Problems

Hello everybody,

I've got a quite big 3d application and am trying to integrate some 
artoolkit functions.
The idea is to have a 3d model of a real scene shown by the application 
and a camera that is taking pictures of the same scene.
The camera is calibrated via artoolkit and the distortion parameters are 
used to correct the image of the camera.
When I try to superimpose the corrected image and the scene (the 
eyepoint is set to the camera position in the real world) I have to get 
the perspective projection right.
With a FOV of 30° (which seems a bit low for me) I get a quite good 
match using gluPerspective. But of course the goal is not to try out the 
parameters but use the matrix that artoolkit can give me.
Problem is that if I use them, I don't see anything of my scene.
Here are the different projection matrices (transposed):

gluPerspective
3.422423   0.000000   0.000000   0.000000
0.000000   3.866713   0.000000   0.000000
0.000000   0.000000  -1.000436  -1.000000
0.000000   0.000000  -0.400087   0.000000

argConvGLcpara (v2.65)
15.306278   0.000000   0.000000   0.000000
  0.000000  22.197155   0.000000   0.000000
-0.106250   0.072917   1.000100   1.000000
  0.000000   0.000000  -0.200010   0.000000

arglCameraFrustum (v2.7)
15.306278    0.000000   0.000000   0.000000
  0.000000  -22.197155   0.000000   0.000000
-0.106250   -0.077083   1.000100   1.000000
  0.000000    0.000000  -0.200010   0.000000

Shouldn't the 1's in the third row be negative? And why is the second 
coloumn in the frustum-version negative? near and far clipping distance 
are set to the same values in the two artoolkit functions (0.1 2000).

BTW: How to get the focal length and the pixel size out of the 
calibration parameters?

Regards,
	Simon N.

From:	Simon Notheis <simon.notheis@g .....>	Received:	Jul 12, 2005
To	artoolkit@h ..................
Subject:	OpenGL Perspective Problems
Hello everybody, I've got a quite big 3d application and am trying to integrate some artoolkit functions. The idea is to have a 3d model of a real scene shown by the application and a camera that is taking pictures of the same scene. The camera is calibrated via artoolkit and the distortion parameters are used to correct the image of the camera. When I try to superimpose the corrected image and the scene (the eyepoint is set to the camera position in the real world) I have to get the perspective projection right. With a FOV of 30° (which seems a bit low for me) I get a quite good match using gluPerspective. But of course the goal is not to try out the parameters but use the matrix that artoolkit can give me. Problem is that if I use them, I don't see anything of my scene. Here are the different projection matrices (transposed): gluPerspective 3.422423 0.000000 0.000000 0.000000 0.000000 3.866713 0.000000 0.000000 0.000000 0.000000 -1.000436 -1.000000 0.000000 0.000000 -0.400087 0.000000 argConvGLcpara (v2.65) 15.306278 0.000000 0.000000 0.000000 0.000000 22.197155 0.000000 0.000000 -0.106250 0.072917 1.000100 1.000000 0.000000 0.000000 -0.200010 0.000000 arglCameraFrustum (v2.7) 15.306278 0.000000 0.000000 0.000000 0.000000 -22.197155 0.000000 0.000000 -0.106250 -0.077083 1.000100 1.000000 0.000000 0.000000 -0.200010 0.000000 Shouldn't the 1's in the third row be negative? And why is the second coloumn in the frustum-version negative? near and far clipping distance are set to the same values in the two artoolkit functions (0.1 2000). BTW: How to get the focal length and the pixel size out of the calibration parameters? Regards, Simon N.