Mastering OpenCV 4 with Python

Camera pose estimation

In order to estimate camera pose, the cv2.aruco.estimatePoseSingleMarkers() function can be used, which estimates the pose for single markers. The pose is composed of a rotation and a translation vector. The signature is as follows:

cv.aruco.estimatePoseSingleMarkers( corners, markerLength, cameraMatrix, distCoeffs[, rvecs[, tvecs[, _objPoints]]] ) ->  rvecs, tvecs, _objPoints

Here, cameraMatrix and distCoeffs are the camera matrix and the distortion coefficients, respectively; they should be provided with the values obtained after the calibration process. The corners parameter is a vector containing the four corners of each detected marker. The markerLength parameter is the length of the marker side. Note that the returning ...