We need some new API for tracking a 'pose' (position and orientation) as an entity, and for doing transformations on poses:
Transform a pose in one coordinate system to another - for example, given the pose of an object relative to a camera, and the pose of the camera in world coordinates, get the pose of the object in world coordinates
Pose inversion - given the pose of a camera relative to an object, invert the pose to get the pose of the object relative to the camera
We need some new API for tracking a 'pose' (position and orientation) as an entity, and for doing transformations on poses: