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我有巫术摄像机跟踪软件，进行视频作为输入，并以下列格式给出输出继电器：如何使用voodoo相机跟踪器？
# Text export
# created by voodoo camera tracker - www.digilab.uni-hannover.de
# Creation date: Mon Feb 28 18:41:56 2011
# The camera (one line per frame)
#
# Description of the CAHV camera model:
# -------------
# (Cx, Cy, Cz) : CameraPosition [mm]
# (Ax, Ay, Az) : RotationAxis2 [unit vector]
# (Hx, Hy, Hz) : RotationAxis0 [pel] (including FocalLength, PixelSizeX, and Principal Point offset)
# (Vx, Vy, Vz) : RotationAxis1 [pel] (including FocalLength, PixelSizeY, and Principal Point offset)
# (K3, K5) : Radialdistortion; K3 [1/(mm)^2] K5 [1/(mm)^4]
# (sx, sy) : PixelSize [mm/pel]
# (Width, Height) : ImageSize [pel]
# -------------
# (ppx, ppy) : Principal Point offset [pel]
# f : Focal Length [mm]
# fov : Horizontal Field of View [degree] = (2*atan(0.5*Width*sx/f)*180/PI;
# (H0x, H0y, H0z) : RotationAxis0 [unit vector]
# (V0x, V0y, V0z) : RotationAxis1 [unit vector]
# -------------
# (x, y) : image coordinates [pel]
# (X, Y, Z) : 3D coordinates [mm]
# -------------
# Projection of 3D coordinates in the camera image:
# [ x' ] = [ Hx Hy Hz ] [ 1 0 0 -Cx] [ X ]
# [ y' ] = [ Vx Vy Vz ] [ 0 1 0 -Cy] [ Y ]
# [ z' ] = [ Ax Ay Az ] [ 0 0 1 -Cz] [ Z ]
# [ 1 ]
# or
# [ x' ] = [f/sx 0 ppx] [ H0x H0y H0z ] [ 1 0 0 -Cx] [ X ]
# [ y' ] = [0 f/sy ppy] [ V0x V0y V0z ] [ 0 1 0 -Cy] [ Y ]
# [ z' ] = [0 0 1 ] [ Ax Ay Az ] [ 0 0 1 -Cz] [ Z ]
# [ 1 ]
# then x = x'/z' and y = y'/z' , if the origin of the image coordinates is in the center of the image
# or x = x'/z' + 0.5*(Width-1) and y = y'/z' + 0.5*(Height-1) , if the origin of the image coordinates is in the upper left corner
# -------------
# Cx Cy Cz Ax Ay Az Hx Hy Hz Vx Vy Vz K3 K5 sx sy Width Height ppx ppy f fov H0x H0y H0z V0x V0y V0z
现在，这是一个CAHV相机模型，给出了值每帧。我想知道如何从这个输出中提取像翻译，旋转，缩放等摄像机参数？ 在此先感谢..