private void EstimatePoseGridBoard(Mat rgbMat) { int valid = Aruco.estimatePoseBoard(corners, ids, gridBoard, camMatrix, distCoeffs, rvec, tvec); // if at least one board marker detected if (valid > 0) { // 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); } }