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ArucoInvokeEstimatePoseSingleMarkers Method

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This function receives the detected markers and returns their pose estimation respect to the camera individually. So for each marker, one rotation and translation vector is returned. The returned transformation is the one that transforms points from each marker coordinate system to the camera coordinate system. The marker corrdinate system is centered on the middle of the marker, with the Z axis perpendicular to the marker plane. The coordinates of the four corners of the marker in its own coordinate system are: (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0), (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0)

Namespace:  Emgu.CV.Aruco
Assembly:  Emgu.CV.Platform.NetStandard (in Emgu.CV.Platform.NetStandard.dll) Version: 4.3.0.3890
Syntax
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public static void EstimatePoseSingleMarkers(
	IInputArrayOfArrays corners,
	float markerLength,
	IInputArray cameraMatrix,
	IInputArray distCoeffs,
	IOutputArrayOfArrays rvecs,
	IOutputArrayOfArrays tvecs
)

Parameters

corners
Type: Emgu.CVIInputArrayOfArrays
vector of already detected markers corners. For each marker, its four corners are provided, (e.g VectorOfVectorOfPointF ). For N detected markers, the dimensions of this array should be Nx4. The order of the corners should be clockwise.
markerLength
Type: SystemSingle
the length of the markers' side. The returning translation vectors will be in the same unit. Normally, unit is meters.
cameraMatrix
Type: Emgu.CVIInputArray
input 3x3 floating-point camera matrix
distCoeffs
Type: Emgu.CVIInputArray
vector of distortion coefficients (k1,k2,p1,p2[,k3[,k4,k5,k6],[s1,s2,s3,s4]]) of 4, 5, 8 or 12 elements
rvecs
Type: Emgu.CVIOutputArrayOfArrays
array of output rotation vectors. Each element in rvecs corresponds to the specific marker in imgPoints.
tvecs
Type: Emgu.CVIOutputArrayOfArrays
array of output translation vectors (e.g. VectorOfPoint3D32F ). Each element in tvecs corresponds to the specific marker in imgPoints.
See Also