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artoolkitplus and measures

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Hy.
I have realized an artoolkitplus application , the problem are the matrix of rotation and translation.
1)In what unit of measure the artoolkitplus output the translation?And what is the multiply coefficient for create the translation vector that move the object on the marker?
2)how i compose a rotation matrix from the detected marker?
3)is usefull set the marker dimension in the traker ?
or i can detect all measure markers?
thanks

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