The camera calibration result and optimization algorithm are used to calculate the object's world coordinate from image coordinate.

结合摄像机标定结果和优化算法从二维图像坐标中计算目标物体的世界坐标。

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The coordinate transformation matrix based on the direction cosine parameters from the object coordinate system to the world coordinate system is derived by vector algebra.

利用矢量代数的方法，推导出以方向余弦为参量的物坐标系到世界坐标系的坐标变换矩阵；利用矩阵求逆的方法，推导出世界坐标系到物坐标系的坐标变换矩阵。

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In the embedding step, four points are specified to build the world coordinate system so that the virtual objects are superimposed on the real scene images in the proper positions.

在嵌入阶段，我们指定了四个点来建立世界坐标系，以确保虚拟物体能够成功叠加到真实场景中的正确位置。

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