private void EstimatePoseChArUcoBoard(Mat rgbMat) { // if at least one charuco corner detected if (charucoIds.total() > 0) { bool valid = Aruco.estimatePoseCharucoBoard(charucoCorners, charucoIds, charucoBoard, camMatrix, distCoeffs, rvec, tvec); // if at least one board marker detected if (valid) { // In this example we are processing with RGB color image, so Axis-color correspondences are X: blue, Y: green, Z: red. (Usually X: red, Y: green, Z: blue) Aruco.drawAxis(rgbMat, camMatrix, distCoeffs, rvec, tvec, markerLength * 0.5f); UpdateARObjectTransform(rvec, tvec); } } }